It's a little out of date but here's my
PAD Herder
Team is
Norn of the Past Urd
Dominating Warrior King Cao Cao
Solitary Lion Squall
Rowdy Red Samurai Goblin (working on Homura to replace him)
Twilight Sorcerer Chester (working on Shiva to replace him)
Friend is usually another Urd
Urd is pretty similar to Verdandi, so from my experience you will want a damage booster to help clear most descends. For this purpose I would probably slot in Ace instead of Squall. In the long run I would also work towards Awoken Hino instead of Homura, I can't describe how much my team got boosted with triple TPA via Vishnu, and Hino would do the same thing for you.
As others have mentioned Awoken Shiva will be a better lead than Urd (you can use her as a sub), although more difficult. Almost double damage (11~ vs 20~x) if you can consistently pull off 6 combos, but you lose the HP boost so some dungeons may be rough without plusses. Have you tried running an A. Shiva friend?
Edit: As for using non-awoken Shiva, I don't really think think the devilits are worth it for dark since he doesn't have TPAs, F/W's extra HP will take you farther. Not sure if worth slotting in over Chester, since you lose SBR 100% and TPA damage.
Edit2: Another thing, invest in farming/leveling/skilling an Echidna! Delay helps with a ton of dungeons, and she's even on-colour for your team. If you feel like it you could even roll Christmas REM for that version, since the awakenings are better!
Edit3: You could also try investing in a King Flamie for a damage booster if you're having issues taking down bosses. I used Woodsie for Verdandi until I got Delgado/ZhugeLiang.