Ping Facebook Graph to crawl (scrape) or rescrape the URL if a scheduled post goes live or a draft is published. Depending on this specific need I may just do it on any time status goes to publish regardless of the old status.

wordpress-publish-facebook-recrawl.php

<?php
/**
 * If post goes from "future" (scheduled) or "draft" to "publish" then alert facebook to (re)crawl it.
 * @see https://codex.wordpress.org/Post_Status_Transitions#transition_post_status_Hook
 */
 function chuck_notify_facebook_scraper( $new_status, $old_status, $post ) {

	if ( $new_status != 'publish' ) {
		return;
	}

	$url = get_permalink( $post->ID );

	$fbtoken = ''; // FB App Token - https://developers.facebook.com/tools/explorer/

	if ( 'draft' === $old_status || 'future' === $old_status ) {
		chuck_facebook_recrawl_url( $url, $fbtoken );
	}

}

/**
 * Fire POST to facebook Graph API as per Updating Objects docs.
 * 
 * @see https://developers.facebook.com/docs/sharing/opengraph/using-objects#update
 */
function chuck_facebook_recrawl_url( $url, $fbtoken ) {

	$endpoint = sprintf(
		'https://graph.facebook.com/?%s',
		http_build_query( array( 'id' => $url, 'access_token' => $fbtoken, 'scrape' => true ) )
	);

	$response = wp_remote_post( $endpoint, array() );

}

add_action( 'transition_post_status', 'chuck_notify_facebook_scraper', 10, 3 );