After talking it over with friends, I have a sketch that's starting to become a full fledged mini-game for Infiltration.
Essentially, Infiltration is a series of obstacles, further subdivided into tasks. These obstacles and tasks are created during the acts leading up to the finale. While those scenes are played out, the heroes divide up responsibility for the plan.
During the mini-game, each character attempts to remove an obstacle by addressing the sub-tasks which make it up.
Besides obstacles and tasks, a suspicion tracker is used, which slowly escalates during failed rolls for tasks. If this reaches a threshold, the hero is caught, and must face penalties.
When an obstacle is removed, the suspicion track goes down some, reflecting the new situation that results.
For instance, an obstacle might be "Palace Guards". Tasks to get by them might be "Make a uniform", "Enter hallway", and "Command guards to leave".
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