At about 4:56 of the robbery, Jon goes back inside, leaving the trunk of his car open. However, at 5:10 the trunk is now closed, and both guys were inside the house.
In this episode, thanks to the new format, Jon actually faced the situation of encountering the homeowner returning home while the break-in was still in progress. The homeowner asked him what he was doing there, but seemed mostly stunned. Jon was able to get out quickly and make it into the getaway van with his accomplice.
The getaway driver, that drove into the garage door, was Jon's cousin.
Jon didn't lock the car door when he left to break into the house.