My current team:
Vampire Hunter Eddie: Assassin, Chance
Astra: Void, Strike
Warrior Newborn of Light: Thorn, Explosive
Golden Pharaoh Dog: Energy, Thief
This one is running very quickly for me. Each wave is eliminated usually in two turns, sometimes 3. The Dragon King is eliminated consistently in the minimum of three shield breaks.
However, I do not recommend autoplaying this team. If you don't make sure that GPD keeps the healing and immunity up in the fight with the Dragon King, you'll get creamed.