This really isn't much different than the rogue PC sneaking ahead in most dungeon explorations, except the cost of failure is lower. My group currently has a familiar that they use as a bat to do advance scouting in caverns, and it works pretty well for our group. The players listen to my description, which they would have to anyway, then decide on a course of action as a group. Technically the owner of the familiar would have the final say, but they tend to agree. There's occasional complications, as occupants of the caves snack on the familiar or door and other obstacles get in the way. I haven't yet had an intelligent resident kill the familiar, but if it happened, it would definitely alert them to shenanigans. Oh, and the bat doesn't trigger any traps, so they still have to deal with those.
As for the heist, I'd just give them a general map in advance. They'll know what rooms lead where, but they won't know most of the occupants, which should be patrolling and moving around. The spider isn't likely to discover any traps, so they'll still have to deal with those. The only major benefit they'll have is knowing the shortest route and not being taken in by any dead ends. They'll learn more if you use a linear layout, but since this is a heist, I'm assuming it's a typical building with multiple entrances and a circular flow.
As for the heist, I'd just give them a general map in advance. They'll know what rooms lead where, but they won't know most of the occupants, which should be patrolling and moving around. The spider isn't likely to discover any traps, so they'll still have to deal with those. The only major benefit they'll have is knowing the shortest route and not being taken in by any dead ends. They'll learn more if you use a linear layout, but since this is a heist, I'm assuming it's a typical building with multiple entrances and a circular flow.

