I suspect the following statement is wrong:
Let $X$ be a smooth connected manifold, and $V \subseteq X$ be an embedding submanifold of codimension $\geq d+2$ and $i: X-V \rightarrow X$ the inclusion map. Then the map $i_{*}:\pi_{d}(X-V) \rightarrow \pi_{d}(X)$ is an isomorphism.
However, I cannot find any straightforward counterexample. The statement is known to be true when $d=1$, and I think $i_{*}$ is at least injective for general $d$. However, it seems unlikely that it will be surjective in general.
Edit: As Moishe Kohan pointed out in the remark, the original statement is not true for $d=1$ if the objects are not smooth.