Sharing as asked by @dave2008
Logan Bonner's adventure in Dungeon #200, Blood Money, was a heist.
In order to make the heist be possible in D&D, and not just turn into combat the first time someone failed a roll or two (which happens all the time with D&D's high RNG, binary pass/fail and low threshold for rolling), Bonner added a mechanic, the name of which escapes me, but which I'll call "Preparation points".
Basically, the better you prepared for the heist (scouting, talking to people, gathering equipment, planning, infiltrating beforehand and so on), which included stuff the DM had pre-listed, but also stuff the DM judged as smart, the more "Preparation points" you got. Once the heist started, you could then spend those preparation points to negate/re-roll fluffed rolls, or to assert minor but potentially important bits of fiction, like "I stashed a crowbar here" or "I remembered to bring an extra 100' of rope" even though they weren't previously the case (so long as they were potentially possible and reasonable).
This worked extremely well to make the heist actually functional, and to not devolve into combat early on because someone missed a check. I'd be great to see D&D pick up a similar mechanic where appropriate.