[時「とき」] => At the time A N5
Time
に先立って => before; prior to ~ N2
に[先立「さきだ」]って/に[先立「さきだ」]ち/に[先立「さきだ」]つ => Before A occurs/takes place N2
Time, Situation
と同時に => at the same time as; while; simultaneously ~ N2
に代わって => instead of; replacing; on behalf of ~ N3
Vた[時「とき」] => After having done something N5
Time
代わりに => instead of; as a substitute for​; in exchange for; in return for N3
に先駆けて => prior to; to be the first (pioneer); being ahead of ~ N1
[代「か」]わり => Not A, but B, B in place of A, Instead of A, B; In exchange for A, B N3
Comparison, Exchange
に[先駆「さきが」]けて => The earliest, very first in A; Ahead of A, in advance of A N1
Time, Situation