I think the only way to nail this is to practice it.
I have a few TTT medals at national student level. Every year we 4 strong but not outstanding riders would beat teams which were on paper and in individual TTs much stronger. Our experience:
1) Ride together as much as possible, starting with 2 min turns at a steady pace, then get faster / shorter
2) Learn to ride pacelines smoothly, i.e. decelerating off the front so the line keeps the same pace
3) Discuss wind and positioning on the road. Many riders have no idea about echeloning and why you rotate right or left before it is explained to them. It helps if one of you has the authority to shout at people and tell them what to do.
4) Do shorter turns downhills as momentum fires the guys in the slipstream through and longer turns uphill, on short hills the guy at the front needs to complete the hill. Obviously minimum braking.
5) Learn how hard everyone can ride, e.g. when completing the hill, how hard can you go but still allow the guy on the front to get back on the back of the line?
6) Work out an order of riders which works for you, we usually put larger riders together and tried a few different orders based on strength before settling on an order and sticking to it
7) Start on road bikes then move onto using TT bikes at least 2x per week for all paceline training at least 6 weeks before the race. Use full TT wheels etc. as training needs to be as real as possible.
Create some competition by competing against another 4 or 2x2 in training if you can
1) From early season 1x per week we would do about 40-60 miles in pacelines on road bikes until it was second nature to think of others. We'd ride at maybe 160bpm and do 1-2 minute turns depending on strength.
2) Then we would get faster until turns were at 180bpm and the ride would go down to 40 miles
3) Then we would do 10 mile TTs in two halves, 5 miles each 'sector' with a good rest in between. Sometimes we would ride in pairs, sometimes as fours. First half would be ridden hard, second half as if you were trying to ride the other guy off your wheel. Much pain was involved. No idea on the HR, but guessing about 185 average.
4) For team pursuit we tried doing 4km efforts on the road. This never worked properly. Much better to use the track, particularly for team starts. Our experience was that it's more difficult than it looks to do 4km really well. We also had one spectacular crash warming down in Manchester. Oops.
We did try a few coached sessions. These were great on the track but not much good on the road. The 5 mile TT x2 or x4 is a much better way to sort out any issues.