The Scenario: the classic "party heist" where one character is on over watch from a removed location, a stealthy character is meant to search for The Thing inside, while the face character keeps the Villain busy, with the Heavy uncomfortably shoved into a suit and ready for inevitable violence.
So, are you trying to emulate the heist genre, or are you trying to do those four roles, specifically? Because they are not equivalent.
Note that the genre does not matter
Yes it does. Specifically, the "comms" character is remote because of the genre-specific trope of using centralized communications, and large amounts of centralized electronics to defeat/use the target's centralized electronic defenses that can be accessed remotely. It is mostly a 20th century Earth conceit, and may not be appropriate for other settings.
Shadowrun, for example, started with this trope, but dispensed with it as splitting the party was a problem, and wireless technology made it seem nonsensical. They made their electronics characters mobile, and brought them on-site for the heist.
How does your favorite game do this?
My first answer is that my favorite game for this is
Leverage, a Cortex-based game, which is specifically designed for it.
How does it deal with nearly every character in the group essentially separated doing their own thing simultaneously? How do the rules interact with one character watching from afar and being the comms hub? How does it keep the Heavy engaged until violence starts? How does stealth work? Social interaction? What about being discovered by the guards or enemies or whatever? What happens if one character enters combat or conflict but the others don't?
It then seems to me that writing an answer to this is mostly writing the rulebook (or, a large chunk of it) for the game in question.
One of the most important tools for handling many of these issues is an element seen in the heist genre that isn't about "four roles in specific places". It is a more general genre element: the flashback. A character is faced with an unforeseen challenge, and tension rises as the audience fears this will result in failure or extreme difficulty. It is then shown to the audience that the crew foresaw the issue, and had formulated a solution for this previously, and everything is fine.
In media, this is a way to create and release tension for the audience. In an RPG, it is a way to allow characters not actually in a scene to retroactively have been relevant.
Another major way to answer the question is to not make any character be a one-note unitasker. If the Heavy is also a second-string Face, for example, the group gains flexibility.