Got this achievement on the first heist finale The Fleeca Job.
I was using the drill and my friend was the driver on crowd control.
When the alarm went off my friend who was playing crowd control, got into the Armoured Karin Karuma on the passenger side
and left the passenger door open.
Once I finished drilling the depository box I quickly ran to the car and got in via the passenger door.
We then drove all the way to the part where the Cargobob picked us up and we got the achievement when the mission ended.
If you're still having trouble feel free to use this as a reference. I was helping a friend get the achievement a while ago.