Actually Skywarp was using Teleportation to his advantage in Battle, he would even sometimes teleport away from your shots (It was a chase fight), and at this time the Ark was not found, because this was a prequel game.
Dinobots Vs Skywarp... I don't think he would... Also Skywarp has a limited range he would have to be about 1 Mile away From the Autobit base to teleport inside, and the Autobots would already see him coming.