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put points into the specialty (eg steal tech / assasinate) and the general one that reduces cost. Also higher level.
Your success chance is 1/2 if you succeeded last turn so you need to skip action for that hero / turn.
having heroes outside the army can help scout the area, and lower ambush chances.
For actions:
I use steal tech a lot:
sack a town - gain a level, steal tech gain a level.
army takes town, heroes rejoin army.
Costs a bit but gains levels fast.
Assasinate / wound hurts enemy heroes that may spot your army or commit actions against you. - extra useful for vampire counts as blood kisses.
your choice whether you do combat / skills first.
If your lord is a mage, you may want a good fighter.
some heroes very race specific - eg skaven engineer build undercity.
check the success chance.
Actions useful but also a good way of getting levels outside combat.
Also can send agents across the map to identify trading partners and expose the map.
I play on low difficulty levels though.
Another reason to use heroes detached from your army is to scout ahead. In this situation I will also use the hero actions as a cherry on top to both level them up, and to get some diplomacy shifts for enemies of that faction, the effect is rarely the goal.
The few times I will use hero actions are:
Gain influence - High Elf Nobles - I will spam this with as many nobles as possible, influence is key to high elves and Nobles are not that useful in an army compared to standard elven units.
Damage walls - if I don't have a siege attacker then this is useful to allow me to attack on the same turn. Becomes less relevant later in the game when I can put a siege attacker in my armies.
Assassinate - if a hero is scouting and has a chance to weaken an army I know I'll be fighting then I'll try and knock a hero out of their army.
Assault units/Assault Garrison - as above, just to increase my chances, reduce auto-resolve chances.
Block Army - some people use this a lot, but I've usually found the heroes with it are useful when embedded, and if you're having to do it then you're in a situation you shouldn't have got yourself into.
Reduce Corruption (Passive) - for Empire if you use the witch-hunter cheese you can station on in each norscan province and reduce corruption to zero, massively reduces norscan aggression as they keep armies back to maintain public order.
Depends on faction obviously. Vampire Counts for example heavily rely on Necromancer and Vampire heroes to do the heavy lifting surrounded by skeletons/zombies while Banshees and Wights are more map centric heroes.
Empire loves to use Arch Lectors to boost Warrior Priests/Inquisitors and have Priest tank and use Inquisitors for corruption and blocking armies. It’s hard to find a use for Captains. Mages are obvious.
Again depends on factions.
This is one of those about things about Total Warhammer though. By the time you have the infrastructure to recruit and support dedicated scouts for your armies, you no longer need heroes scouting for your armies, because you're essentially unbeatable in battle, with your stupidly overpowered legendary lord(s), spell caster(s) and/or artillery. I usually just put sight-range boosters on embedded heroes and call it good.