Heist Setup Missions\n\n NOTE: These missions are not replayable. Once players have completed the one-time missions, they will need to choose a Heist approach. Silent & Sneaky: Players attempt to enter the vault undetected, giving them the least resistance and the longest amount of time to steal from the vault.

You can do it as many times as you want. And yes you have to do all the setups each time (except scoping the casino points of interest). I think the cool down time between heists is something like 10-15 minutes.