Robin can cover Euryale's role. David's is trickier, but he doesn't need to be properly levelled, you only need his 2nd skill, that's all, I went through with lv 40 David on JP, you shouldn't have much troubles.
You can throw both David, I think, but you need someone to replace his role, which is giving party wide evade, the problem is, he is the most budget option you can find. The other servants who can replace him is Jeanne, maybe use her if you have her. Or you can try the literal hard way of turtling with a support 4* Mashu and your own Asterios. Personally, I'll say to raise everyone you need before taking Camelot, don't even think you can rush it unprepared.
About events, I think the earliest event that needs Camelot to be cleared is CCC, but that's on like, next year, no need to rush.
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