When to use teamwork vs boost vs swarm?

Both take a long time. It used to be that antigravity was much faster than codex, but with recent releases it is substantially slower.

Inspecting the agents communication in teamwork, there seems to be an overwhelming amount of ceremony: BRIEF.md, specialized roles, multiple rounds of checking. Is all that necessary? Codex also uses agent “swarms” but unless they’ve hidden how the sausage is made, it doesn’t seem so heavyweight.