For those who are interested
My Sentinel team on Madness was:

FFE (energy / warlords);
KP (warlord / immunity / sustain);
Horus (eternals);
Val (frontier / cosmic).

They did a good job on autoplay, averaging 2min30sec.

For general, I am using:
FFE;
Charlotte (dominance / immunity);
Ferryman (hex);
KP.
Not so fast, but pretty safe for autoplay.

P.s: all of their respective relics at max.


I hope this help.