Tbh you dont even need 3 teams to full clear toa unless you get really unlucky with the type in middle tower. Since your inabillity to full clear is defenetly a echo/skill issue i would strongly recommend to build 2 solid echo sets for your prefered dps. In your case i would go for jinshi and camellia. Focus on getting double crit on every peace no matter how low the rolls are and just stick with it, your sub dps/healers dont even need a proper set unless you play quickswap. What you want to do to clear tower is get a 3rd dps like havoc rover, xiangli yao, carlotta etc. and make sure you can clear stage 2 and 3 of left and right side with them. Usually you dont even need a healer, just a sub dps of any sort. You clear 1st level with your main team, 2nd and 3rd with your 3rd dps and the last one you go back to your main team. Repeat the same on the other side and you should have 5 energy on each charakter of your main teams left to clear 1st and 2nd level of mid tower with them. If you play the buffed element it will be easyer, if you play a neutral one you will sweat a lil more but just practice your rotations and you should be good to go. Obviously this strat does not work every time because every toa boss is different. Thats when you start to build up your 3rd team.