this is a tricky question and involves a large amount of map awareness as well as awareness of the strength of your enemies also the ability to trust your teamates, in solo queue i wouldnt put it past teamates to abandon you if you tp in, but you should only tp to help another lane if you lane is pushed enough you will not lose tower and are sufficiently ahead that yur opponent will not turn the fight for the worse unless your sure your opponent has no tp up. also on a side note you show pay attention to your and their jungler,
if the lane you are tping to is pushed in your favor, you can expect their jungler to be nearby and should make sure yours is before attempting to tp and start a fight
if the lane is pushed in your enemies favor it is less likely their jungler will be there so if there is a ward behind them and your teamates are not to low or at an overwhelming gold disadvantage it might be a good time to tp in, especially if your jungler is on the way
if you are behind it is better not to tp to another lane, but rather be passive top, if your are behind you dont want it to affect the other lanes by having a fed enemy follow you in so its better to stay and passive farm so he has to stay else you should get his tower.