Never seen an episode, but then again don't need to. My stepson is a vice detective in a nearby community and neighbor does the same for state.
Both have and will do undercover work. They both specialize in narcotics. Sometimes when Jayson is at the house my neighbor will come over. They share a couple snitches, so they will talk shop. I hear the "real" police stories.
Had to have a talk with Jayson. After coming by one Sunday afternoon, he was talking about some undercover buys he made. He proceeded to talk about how the other detectives where in behind him in a vehicle with their machine guns just in case. Well...my wife's eyes got very wide and said 'machine guns'? Told him there are things or details he should delete for his mom's benefit.
The stories I could tell you. Some are funny and most not. Dangerous job and glad someone willing to do it.