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If you have a spell like "Heal" for example that takes one action. Can you cast "Heal" and then another one or two action spell in the same round?

I realize this question has probably been asked a million times, but I can't seem to get clarification on it....

If a critter is immune to flanking, like a Minotaur for example, and a rogue is flanking the creature, would it be safe to assume the rouge does not get sneak attack damage due to one of the prerequisite for Sneak Attack is having the creature flanked?