Team Composition

It seems you have a good amount of servants going, but it's hard to have a team that works for everything. What I would suggest you to do is have an attacker of every class and keep Zhuge Liang there since he is a all rounded support. If you lack an attacker of that class, use your friends' support servant.
I will just list out a couple bosses in Camelot so you know what to watch for first:
-Spoiler Alert-
Gawain: Basically just a saber but he gains 2 ticks of NP per turn, also he takes less damage. Try to train up Eurayle or use someone's Orion, with Zhuge Liang' NP that will effectively control his NP bar. Robin Hood, though without NP drain is still useful.
Mordred: She got her NP charged up everytime and since she is female, both Eurayle and Orion won't be doing that extra damage, but they are still useful.
Tristan: He is probably the worst of all. He has this weird thing where he hits everyone with 1.5x damage except Mash. Only Saber does 2.0x damage to him. (Even Berserkers are doing only 1.0x) Borrow someone's Okita/Nero Bride/Saberlot/Rama.
Lancelot: He is probably the easiest, he has the defense of a ruler, so Jalter. He is also immune to debuff but you can still NP drain him.
Ozymandias: Just like himself as useful, but he has a caster with him so don't just bring an assassin, bring a rider as well.
Lancer Artoria: She has pierce invulnerability, so dodge and invulnerability is not gonna work, but Mash is gonna get quite a bit of upgrade by then so train her up.
- Spoiler Ends here -
For basic team building, the usual way is to have 1 attacker with 2 support, Zhuge Liang can be in almost any team. Another great support will be Andersen, both of them together can do a lot. Choose attacker's class base on the boss's class. I usually put Cu or Heracles on the last spot due to their survivability. You can also put in 1-2 tanks in at spot 4 and 5 to hold out, great options are Georgias, Leonidas, Mash or even David.
Camelot is different from the previous chapters, from here on, FGO just got much more hardcore, you will need to level up your servant, have a variety of people to use to make it through. Since Babylonia (the next chapter) should not be out until the end of this year, you have plenty of time, level up servants, farm for items and participate in activities. August should give you another welfare servant Chloe, which is one of the best ST archer out there, make sure you get her ascension items.
For CEs. Since you have Zhuge Liang, get your main attacker a CE with 50% NP so they can use their NP right away. Zhuge Liang should be running some support CE like Fragments of 2030, but it depends on who is your attacker. Tanks can run CE with guts to increase survivability. I am not sure what CE you have so I am just gonna list out some 3 star CE that you probably got, if you got a 4 star or 5 star CE that is similar, just switch it out:
Attackers (for fast NP): Ley Line
Attackers (If with self charge): Dragonkind
Support (Zhuge Liang, Andersen etc.): Jeweled Sword (perhaps, not a lot of 3 star support CE out there)
Shields: Parted Sea, Battle of Camlann
Again, there a lot of CE you can run, since I don't know what you have I am just giving some general ones out.

There's only so many comps you can run especially considering what levels your servants are at.

If you're doing Camelot with that lineup, I recommend using your best servants (Zhuge, Ozy, Scathach, Herc, Arash) and carrying Mashu/Cu in the backline so they can stall. It looks like you're going to have to rely on a lot of support servants to get you through this one as Camelot's battles are far different from the other singularities. I recall a ~400k HP boss just in chapter 1 (and that's out of 18 chapters).

My advice would be to wait before starting Camelot just to farm up servants, but if that isn't doable, then godspeed.

I do have a maxed Euryale on my support page just to help people on this singularity so if you need any help: 566,541,430

I dont understand why everyone says get servants with class advantage. Yes its preferable but getting resources raising them is time consuming. On one hand you shouldn't feel like you need to rush to complete the story, but having a good damage dealer (Ozy in this case) and backing them up with support (Waver and Hans) should be enough. My Jalter barely has class advantage and she got me through a lot of Camelot with Hans, Mash, and Jack. Yep, didn't even use a friends Waver because I wanted that extra FP from NPCs (dont really have a better term for them). You will at least want a back up zerk/caster against assassins but that's raising one additional servant versus 6 more. Once you get a couple events under your belt trust me you'll be raising one of each class just because you have nothing better to do.

First, level up your servants. Your team comp should always be (not in order):
1. waver - op
2. mash - free
3. chevalier - tank
4. main damage - ozymandias, heracles, scathach, li shuwen, cu chulainn, emiya (assassin), emiya

5. you can pick an additional damage dealer:
scathach - vs archers
ozy - charisma, np charge, guarantees buffs for scathach
cu - backline tank
emiya (assassin) - vs riders
or
arash - waveclear
irisviel - more sustain
astolfo - waifu
Leveling priority is the order of servants mentioned. (Waver, mash, ... astolfo) At least to 3rd ascension. Try to get good skills up to 6. Waver and mash should be 10/10/10.