Blades in the dark, the Forged in the dark games, or White lies have a way to do this.
First, the character do the plan, not the players. It means that the planning phase is just an ellipse and players have a limited flashback possibilities (ah yes, but in fact it was a possibility so my character knows that .. or has the need tool to ...) and they use clocks (4 to 8 pieces pies that are filled step by step, ok so one more tick on the "general red alert" clock, only to remaining).
If you want an actual play of blades in the dark: Oxventure https://m.youtube.com/playlist?list=PL8DF056nV-PUFQbq2TlAzT4BP7pjRhwml
:)