I don't hate you but Venli just lost her husband(once-mate but I am adjusting my terminology for human terms) like a year ago.
My thoughts are as follows.
Bold is a probably
Italics is a maybe
Underlined is an Unlikely
First group(I am going to call them team Offense):
This team will be the largest one and will include Kaladin as a major POV. This book will feature him prominently and as a Windrunner he is a front line character. You can't have a hero siting in a tower contemplating the universe. Kaladin is also at his best as a character when given high stakes missions, visceral examples, choices, and consequences. He is going to need a support team as well as other characters to play off against.
I don't see Szeth working in that capacity. He has book 5 stuff to do and he is too useful as a political tool to send off into danger(the fact then when he saw frog the storming assassin in white jumps is kind of amazing). He is also Dalinar's only Skybreaker and he will want to keep Szeth around to train more Skybreakers in his Radiant school(this school needs a name BTW).
Adolin is great for this kind of thing and it would give him an opportunity to figure stuff out(bring back Maya and become a lifebearer) but as a highprince I am not sure he can wander around Roshar on missions.
Shallan is also great at this and it would give him some time to complete her arc however I am hopping for some more interactions with Jasnah and the ghostbloods and those can't happen in the field.
Renarian would defiantly work but he seems to be going in a more scholarly direction(plus Jasnah is still a bit unsure about him).
Jasnah, Dalinar, and Navani, all obviously can't go(at least in a realistic world) and I don't think the Heralds are options either.
I am thinking that the mystery Dustbringer would be excellent for this kind of thing(they could learn about responsibility and loyalty from Kaladin while following their own Dustbringer path).
Kaladin would be stupid not to bring at least one squire with him wherever he goes. Dalinar will probably order him to. It is not like they can do anything remotely as useful anywhere else.
Lift is way too young and she will be hanging out around unnamed Radiant school.
An eventual Venli team up is both awesome and inevitable(which makes me suspicious as this is Sanderson) but in the mean time I am putting her down.
Lirin would be a good final pick. The same goes for Rock(who should have bonded a spren at this point).
PS