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I've run Praetorium many times, but only tanked in it twice so far. I notice some tanks have no problems with activating the lift panels when mobs are about and attacking, but searches for guides didn't turn up anything. It's easy to die and respawn, but if there's some way to get around that I'd appreciate the insight, however obvious.
The (Target Nearest NPC or Object) and (Confirm) keybinds are your best friends here. It's much faster to press TNNOO Confirm Confirm quickly than to interact with the teleporter in any other way. You won't perfectly execute it every time because interruptions, but the second attempt will also be faster than your second attempt using another method. The TNNOO keybind should be close to home position, as should Target Nearest Enemy, because you will use those two keybinds a lot. I personally have them set to TNNOO:[V] and TNE:[G].
If using controller, set one of your targeting filters to only NPCs and Objects.
you can also just to help is click arms length to give ads slow give you easier time entering the panel.