Murdoc: That's why you're so hard to beat, MacGyver, nobody knows what you'll do next...not even you.
Continuity mistake: During the car chase through the desert, the rear view mirrors on both cars disappear and reappear repeatedly.
More questions & answers from MacGyver
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.