I love this game, but get annoyed constantly restarting right at the beginning because of a bad spawn, missing door, or something similar. What maps are good to run that are more consistent, necessitating less immediate restarts?

Well sadly the game is filled with RNG so restarting is pretty much mandatory. And the easiest looking heists are often the ones with the most bullshit random events. Can't think of a consistent map at the moment, so multiplayer can usually mitigate RNG quite a bit. Maybe Meltdown, then again crowbar and vault locations are random and some are obviously better. Brooklyn 10-10 wouldn't be that bad either, if Charon and cops' AI was actually logical and consistent.