Tha party in my campaign (currently level 2) is consisted of a sorcerer, a warlock, a fighter/bard and a cleric, with none of them suting to fill a scout role - I'm thinking mostly of stealth, but also thief's tools, slight of hand, survival, and perception. I'm looking to help them bridge that gap; currently my best idea is by giving them some magic item, any suggestions?

I would suggest letting them solve the problem on their own? Often some of the most interesting gameplay comes from trying to solve problems where you don't have the optimal tools.

Unless the adventure you're running is really focused on stealth, I'd say it's fine letting your party go without. In both groups I play in, it's generally acknowledged that we might try stealth first, but are going to end up going loud anyway.

If your adventure really does need somebody that can scout, consider using the sidekick rules from Tasha's to have such a character join the party.

Your players chose the party makeup, they get to enjoy the benefits and drawbacks of that party comp and solve around it. 

If you really want players to have a scout, you can use I created a magic item recently for a homebrew heist campaign. Essentially, it is a tiny clockwork creature, resembling either a butterfly, spider, or crab. There is also a steel ring with a gem in the middle that can pop out of the clockwork. While holding the gem, you can see the clockwork through the gem, similar to a scrying spell, and can control the clockwork mentally. The butterfly has a flying and walking speed of 15 feet, the spider has a climbing and walking speed of 25 feet, and the crab has a walking speed of 30 feet, and can pick up items