We did something similar but we had the relic holder destroy the 6th and final oracle. 1 & 2 take out their corresponding oracles. Once the portal opens 3 & 4 run in and shoot their oracles. Once 1 leaves, followed by the rest, 5 goes in and shoot his. Relic holder smashes 6 and heads out to the middle platform presenting the shield and removing the darkness from anyone who was going dark.
Mileage may vary but that's how we were successful.
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That's how we did it both times