I spent 2 years runnig around with Armour Recce got real wet fording rivers without Engr recce to assist never really saw those guys too far behind, they did come when we called them though.
With that out of my system, Inf has its own recce assests and the defined task at Bn level no need to go to deep or see deep just get the had off from the BG recce guys who are Armoured. Room for all on the battlefield just that Inf should stay close to the fight while Armour Recce can go make havok and pass targets to the Inf recce.
In a nut shell both needed Inf does recce close to home while Armour needs to go deep.