The Gauntlet - S1-E4
Visible crew/equipment: While Macgyver is running into the desert, a camera is visible in the far right of the screen. (00:05:07)
The Eraser - S2-E2
MacGyver: Look, if this works, it'll keep us from gettin' caught. If it doesn't, it'll keep us from gettin' old.
More questions & answers from MacGyver
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Answer: Late one night, Geoffrey used a covert listening device to overhear David explaining his barricade device to Janet which is how he figured it out.
How do we know Geoffrey really did use a covert listening device? They didn't mention him using one.
There was a scene of him using it when David told Janet about his barricade.