Talbot had the goal at his mercy with just seconds to spare only for Heaton to pull of a timely save with his feet.
It was hard on a Boston side who perhaps deserved more than the replay they earned.
Earlier the away side took the lead when 23-year-old midfielder Simon Rusk hit a crashing drive from 30 yards which flew past Heaton into the top corner.
The home side though restored the balance just six minutes later when veteran Andy Gurney smashed a long range free kick past Nathan Abbey.
Some blame though should be attributed to Abbey who looked as though he was going to deal with the strike only for him to misjudge the flight of the ball and parry it into his own net.
Boston though grabbed a second minutes before half time when Brad Maylett cut inside Swindon left back Andy Nicholas and pulled the ball back for Talbot.
His first time effort evaded Heaton but clattered against the right hand post.
Fortunately for Talbot and unfortunately for Heaton though, it rebounded off the Swindon keeper's back before dribbling over the line.
Swindon boss Iffy Onuora changed things round in the second half switching to a 3-5-2 formation but they still failed to break Boston down.
Onuora then resorted to throwing Charlie Comyn-Platt up front in the hope his presence would unnerve the staunch Boston defense.
It proved a winning move when three minutes from time Comyn-Platt latched onto a long pass from Steve Jenkins, which was again poorly judged by Abbey to fire into an empty net for his first goal for the club.