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does this involve switching to PCMR

you can play heists with no problems by hosting an invite only lobby, then go to a heist lobby and invite people. It will be easier for people to join your invite and its less likely for you to have problems e.g. players lagging out.

I know this works because I tested it on a heist mission (prisoner one). I tried to host this heist mission (from the setups) in an open lobby, my friends were having problems joining but when I finally got 4 players I started the game and everyone lagged out. Then I tried it in an invite only lobby it worked fine.
Hope this helps!

No not at all.

go invite only session invite 3 friends go with them to ur apartment or invite them , walk to the heist room with 4 players and the mission starts with no problems

8/8 g8 b8 m8 i r8 it 8/8.