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When a heist starts, all characters you do not have control over at the start remain stationary until you tell them to do something, or switch to them once, as far as I can tell. That is, until things go loud.
You can also use it to command bots to do other things, as the tutorial explains, like subduing guards. Keep in mind that the bots don't have a lot of care for keeping with stealth rules, so I would suggest only using them when the coast is clear, guards and cameras are down, etc.
Also, if you hold down TAB (by default), you can find some global HOTKEYS for instructions to your AI teammates, like collecting bags, or commanding them to stay/follow, etc.