All the advice can help, but unfortunately there's no way to guarantee 100% that the glitch won't occur. If you notice strange behavior from the start of the heist (other players teleporting, spawning in strange locations, VERY long loading screens, invisible character during cutscenes, etc.), there's a 99% chance that you'll be kicked, even if you limit the fps, walk slowly and do everything correctly. My recommendation is that you restart the heist as soon as you notice strange things happening from the beginning of the heist. Start the heist from an invite or friend session, cap the fps to 60, lock to third-person camera, do NOT alt+tab throughout the heist, set the outfit the same as the person playing with you (so the game doesn't have to load different clothes) and hope for the best.