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.