Usually if you can get a kill or force your lane opponent low or to back then that's a good opportunity. Even if yore low you can back, tp somewhere, etc. That being said if you think that your teleport will secure or earn objectives and kills for your team, its worth letting your tower tank a few hits. Also if your jungler can cover your lane then try asking them if you want to tp bot or something (if for instance they are near top but youre tping bot). If you want to just walk into like midlane and cause some chaos there the same thing really applies, of trying to win a quick trade or assert lane dominance first. I played shen and gnar for a while and they actually really help you to learn when and why to tp place (shen is good for saving teammates and even if you use ult for no reason you dont get punished too hard because you have tp still and gnar's rage bar lets you know when is a good oppurtunity to look around the map for potential tp ganks and stuff).
If its really early in the game you shouldnt have to worry too much about losing tower, it will take a lot of damage but if the enemy only has like half an item or so it should have at least half health, and again objectives for your team in return for the lost tower are always great.