Team Building Advice For a Longtime Player

If you are a long time player you shouldn't really have to ask for advice on team building since you must have the experience of seeing what servants work with eachother. But you did say that you were just following the tier list and that is pretty stupid(no offense).

In Camelot you are going to have to make a new team for each boss in order to succeed. That means you are going to have to make use of all servants that you have, even those that aren't on top of the tier list.
The servants that you should bring with you to Camelot are the following. Kuro, Orion, Leonidas, Euryale, Stheno(if you want to charm lock), David and Robin hood.

Euryale makes use of her charm np which works wonders against Gawain.
David is pretty essential because of his party evade when you are going to fight Gawain and Mordred.
Leonidas - https://youtu.be/UAqHBJh62MM?t=258

Hey man! I respect the grind. Me myself I started playing 2 months back but I'm the type of guy who always researches games i play in advance including strategies and/or meta so i'll give you my two cents on my experience so far and what I learned. Up to you if you want to use it.

You got a good list compared to me at least haha so ima break it down by what i think you should be using them for. Some might overlap tho.

Farming/mob clearing: Altria, Orion, Santa, Lancelot, Emiya, Atlante, Elizabeth
The servants i mentioned for these all have aoe noble phantasms but santa, altria, Elizabeth, and Lancelot in particular are REALLY good at this since they are all buster NPs. Emiyas is buster too, but he can hit kind of frail without help/overcharge so use his np wisely maybe against low level mobs. With class advantage, these all should be good candidates tho at making your life easier on the farming grind. Feel free to also add low level berserkers to this list like spartacus should you have no problems getting their NPs off.

Critical team: Jack, Shiki, Carmilla, Lancelot, Emiya, Atalante.
As assassins, the first 3 i mentioned are awesome at generating and also using crit stars. Jack in particular is infamous at making unlimitedstarworks. Lancelot's skills and buster deck make him an ideal recipient to crit with these generated star since his first skill ups his star gather rate by something along the lines of 3000 percent at level 1. Just dont pair him at the same time as emiya or atalante because they are also crit users. They are also archers who, in fgo, are the class most oriented to use crit stars, so they will soak them up from him. paired with their own generators tho, they will crit like monsters as well. Dont be afraid to throw in cursed arm hassan as well since he is a great star generator.

Santa, altria, altera, and d'eon as high rarity sabers tend to make good tanks for any team you want to put together with their stats being balanced in comparison to other classes. Mash as the only shielder of the game so far, is an obvious choice as well for tanking.

Im going to put Cu Cuchlainn in his own boss killer/tank category. There are players who have solod bosses with this guy so leveling him up is always a great idea.

I'd recommend to level Emiya for events as well as he often has bonuses for multiple event items across the board.

Martha, Hans, and Shakespeare are great supports. Martha for heals and Hans and Shakespeare to buff your powerhouse servants.

For the other servants of yours I did not mention: I either do not have them or I'm not familiar enough with their capabilities to comment. But from your list barring the really exceptional fights in Camelot as long as your favorite servants are leveled I don't think you should have too many problems. Fate is one of those games where you could beat the game even without the top tier servants so you should be fine.

Finally, what 5 and 4 star CEs do you have of note? As there are many CEs im sure you have that would work perfectly with a lot of the servants you mentioned.

Hope this helped! :)