Gta Online High End Apartment
(Note: my experiance is on PC)According to the message you get from lester you need a 'high end apartment'. This will give you a 'heist planning room'. You then have to wait for an invite from lester to host each heist.You do not need a to own a 'high end apartment' to join a heist as a crew member through an invite. I think you do need one to use the 'quick join heist' feature. The host's high end aparment acts as a base for the heist.What i'm not sure on is what properties count as 'high end apartments'. I know when I first tried this I bought the cheapest property in the 'high end' category on dynasty8 and it turned out to be a standalone garage without a heist planning room.
Gta Online High End Apartment

Scrolling down the list of 'high end' properties sorted by price until I reached something described as an 'apartment' and buying that gave me a suitable property.I have definately experianced heists hosted in properties with multiple different interiors. I have also seen heists hosted in properties that were houses rather than apartments. I don't know if this is specific to the 'next gen' versions of the game though.