I might start Robinson because Hack-a-Mitch is less effective at the beginning of quarters. I find Robinson and Queta relatively interchangeable, however, so I am not sure it matters too much, and Queta earned his job up until the 76ers series.
The starting lineup of White-Pritchard-Brown-Queta-Random Wing was very effective last year, so one would figure that White-Pritchard-Tatum-Queta-George (as Random Wing) would be at least effective, so that is what I expect. However, I think it would be best if Hugo were able to win a starting spot in camp so that Pritchard can make the bench more effective.