Put the slowest squad in the rightmost bottom camp. Put the two fastest squads (including helper squads) in the bottom middle camp and the last two squads go to the leftmost camp. This setup should, barring some very extreme speed difference (or if they're all somehow about the same speed) between your 1st/2nd and 3rd/4th fastest squads, net you 410 most, if not all of the time.

For what it's worth, my fastest is 742, next is 561, then 556 and 555. I've used helpers as slow as 400 and as fast as 700 and it's worked just fine.