Hi,

You can try this record rule in your xml file inside the security.

<record id="crm_lead_opportunity_rule" model="ir.rule">

    <field name="name">CRM Lead Team Lead/sales person Rule</field>

    <field name="model_id" ref="model_crm_lead"/>

    <field name="domain_force">['|', '|', ('user_id', '=', user.id), ('team_id.user_id', '=', user.id),('team_id.member_ids', '=', user.id)]</field>

</record>

Regards

Below post might help in creating the rule. additionally you might need rule to  limit use of contacts between the teams

https://www.odoo.com/forum/help-1/record-rule-for-sales-team-members-in-crm-202111