If you have 1 starter with high Stam/Dur you could go with
SP1
T2A/B
T3A/B
T4A/B
Using this in one of my worlds. 2 of the Bs have Stam/Dur ratings just short of what is needed for a 5 man rotation. Rotation is working well for me. All I have in the bullpen is 1 LRA, 1 SetupA, 1 SetupB, 1 Closer. Only run short in the bullpen during extra inning games. Trick is figuring out the max pitch count for SP1 and the As such that they are at 100% on 3 days rest.