Do you need a certain apartment to do a heist in GTA Online?

it is definitely known. you need a high end apartment with a planning room. $200k and up should be fine as all the high end apartments are identical inside. once heists are enabled you will be good to go.

(Note: my experience is on PC)

(Note2: this applies to the heists added in the heists update, that is Fleeca, Prison break, Humane Raid, Series A, and Pacific Standard. The doomsday and casino heists have their own property requirements).

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 apartment 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. 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 definitely experienced 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.