Heterogeneous crystal nucleation is the dominant mechanism of crystallization in most systems, yet its underlying physics remains an enigma. While emergent interfacial crystalline order precedes heterogeneous nucleation, its importance in the nucleation mechanism is unclear. Here, we use path sampling simulations of two model systems to demonstrate that crystalline order in its traditional sense is not predictive of the outcome of the heterogeneous nucleation of close-packed crystals. Consequently, structure-based collective variables (CVs) that reliably describe homogeneous nucleation can be poor descriptors of heterogeneous nucleation. This divergence between structure and nucleation outcome is accompanied by an intriguing dynamical anomaly, wherein low-coordinated crystalline particles outpace their liquid-like counterparts. We use committor analysis, high-throughput screening, and machine learning to devise CV optimization strategies and present suitable structural heuristics within the metastable fluid for CV prescreening. Employing such optimized CVs is pivotal for properly characterizing the mechanism of heterogeneous nucleation in metallic and colloidal systems.