This is likely sub-optimal for spark SQL, but it got me the right answer.

with cte1 as (
    select *
    from results
)
, cte2 as (
    select *
    from cte1
    where TransferFrom is not null
    or TransferTo is not null
    order by ActionTime
)
, cte3 as (
    select distinct OrderID, TransferFrom as Team from cte2
    union
    select distinct OrderID, TransferTo as Team from cte2
)
, cte4 as (
    select a.*
    ,ifnull(timestampadd(MICROSECOND, 1, c.ActionTime),'2000-01-01T00:00:00.000+0000') as StartTime
    ,ifnull(b.ActionTime,'9999-12-31T00:00:00.000+0000') as EndTime
    from cte3 as a
    left join cte2 as b
      on a.OrderID = b.OrderID
      and a.Team = b.TransferFrom
    left join cte2 as c
      on a.OrderID = c.OrderID
      and a.Team = c.TransferTo
    order by OrderID, StartTime
)
, cte5 as (
    select a.*, b.Team
    from cte1 as a
    join cte4 as b
      on a.OrderID = b.OrderID
      and a.ActionTime between b.StartTime and b.EndTime
)
 
select * 
from cte5
order by 1, 4