Cyberpunk 2077: Shooting enemies in the legs

Is there a way to always avoid killing enemies when using a gun to neutralize them? I wanted to neutralize enemies by shooting at them without killing them in The Heist mission. I don't have any mods or Pax (not that I checked). I've notice they don't always remain alive when I give the shot to their legs that brings their health to zero.

There is a modification that can make your weapon non-lethal.

There are non-lethal melee weapons and augmentations search the wiki for more info. Just google it.