If I left anything out, or didn't explain myself enough please add in what I left out, but enjoy this little rant:
With the exception of the legendary weather trio, and azurmarill all raids can be dealt with-with either of two Pokemon, Machamp/Hariyama and Tyranitar. All 1 and 2 star raids can be beaten easily with any team, including machamp and tyranitar, so they're not the focus here. Of 3 star raids piloswine is countered by Machamp and jynx is countered by tyranitar. Machamp can be solid with a team of good machamp, if you don't already have a team of espeon and want to stick only needing machamp. And Azurmarill being the only one that resists both machamp and tyranitar it is still weak enough that you should have other Pokemon, raikou, jolteon, and any grass type, that it shouldn't be a problem. For 4 star raids every raid except feraligatr is best countered by Machamp, even bute/crunch feraligatr, or cloudy weather makes machamp a top pick. For 5 star raids the weather trio has their own counters, but they will be gone soon, so that leaves only a few legendary left. Mewtwo, mew, jirachi, celebi, deoxys, latios, and latias are all weak to tyranitar. Leaving only the Regis, which are weak to machamp. With all this in mind, Azurmarill, Feraligatr, kyogre, and groudon are all weak to grass and rayquaza dragon/ice/rock, with rock being filled by stone edge tyranitar, that an appropriate grass team would suffice for such raids.
TL;DR
The overall best counters with the current and future raids and legendary raids can be boiled down to having a team of Machamp, tyranitar, and a few grass types.