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I have not GM'd for any PFS scenarios yet, but I did just get back from the Con and all I played were PFS games. I might have had the scenario that GM Brute Squad is talking about. I play a rogue and obviously I did not know the DC check before hand, but I role-played my actions and made the roll. Natural 20 with an escape artist mod of +7, but because of the roll and the actions that I did leading up to the roll, I succeeded and got the lovely shiny object which I reluctantly handed over to the person that apparently needed it for their mission.
All that being said, I do like to reward players with some minor bonus if they roleplay the action well and put some thought into what their character would actually do in that situation.
My 2 cents.