No, they made the hole with a second rover, and revealed it on live TV.
I lived on the Giza Plateau for about 5 months last year. The locals know, for instance, that there's a lot of funny stuff going on near these pyramids. For instance, over the past few years they have had fireworks events, which the locals believe they are using as cover to hide the sounds of blasting underneath the ground. The he's a pyramid complex has extensive tunnels all through it, in fact, I know a man whose father claims to have walked Underground ~40 km from Giza to Saqqara.
While I was there, then Prince Charles visited. Which was weird. I watched his plane fly right over my head.
I also witnessed the Red Bull flying wing pyramid stunt, that was neat.
No, they made the hole with a second rover, and revealed it on live TV.