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https://www.youtube.com/watch?v=hAlxq0TkLqM
The bots can and will prevent you from exiting the car, and the car will get stuck, preventing you from completing the heist -or doing anything at all, for that matter-.
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https://www.youtube.com/watch?v=3BcBlb7XNVI
After doing the mission where you threaten Willie, I spent a few minutes escaping from the cops, then found Willie again running down the street moments before despawning.
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https://www.youtube.com/watch?v=7bW6_VtcpUE