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So just kinda dawned on me, does taking a scouting move count as having moved that turn for the proposed of firing heavy weapons? As the scout/infultrate action takes place before the battle round.

The rule will ssy. Pre game ones you wouldn't count as moving as you haven't had a movement phase.

Depends solely on the rule being used. If it happens pre-game then no, they won't.

Neither of the main infiltration methods count as having moved.

Rules that are functionally the same as Concealed Positions on Space Marine Scouts for example happens during deployment. So they haven't moved.

Strats such as the Raven Guard or Alpha Legion ones don't happen in deployment, they happen at the start of the first Battle Round. But it is still before the first movement phase, so they have not moved.

Rules that allow the model to deploy at the end of a movement phase generally will count as the model moving though, such as Terminators deep striking. This sort of deployment generally isn't considered infiltration, but as the rules don't draw a clear distinction in 8e it's worth mentioning for completeness.

As others have said, it should be pretty clear between the text of the ability and the core rules.