Maybe someone already had this idea.. but what about bring the squad organizer in the app to the game?
Instead opening the phone app, you just go to the select mode screen and search the fireteam that suits your needs ;)
On this manager, you can choose the game mode, put your own options/restrictions there and start the actv. You also can select teams from other players.
This should work with the same speed the companion offers.
I made some ugly concepts to show what i mean:
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U still need to be able to kick ppl.