Props to XCaptainMexico, as he lead me down the path to starting as a cleric and saying teleport is the quickest skill to cooldown. They have a lot of good advice on their solution if you are working on it in a multiplayer game mode
I can confirm this cause I just got it last night, but I loaded up the story mission where you are in the desert and have to kill the alien enemies, where you get like 2 or 3 AI bots to help you per tower that you rescue. by the end of it you can have 7 ai bots that don't go anywhere without you, and the enemies are extremely easy. you have a 9 minute time limit, but if you can get full y skills, then you can change between happy miracle, sacred song, and teleport, with 7 bots that never leave your side. transport takes about 15-20 seconds to cool down, and it counts for 7 at a time. I had to do the mission maybe 3 times, and i started at 0 team skills for this achievement.
This method cuts down on the randomness of any objective game types, as the bots stay by your side instead of trying to accomplish a goal.
As JBS 80 commented:
Mission title is Spirited Away in the Desert Village - Encounters of the Third Kind, or something like that. It would be mission 4-1 if they had numbers.