Automatic Task Assignment Based on Schedule

I kindly request assistance with creating a formula.

I have a an employee table with employee names and start times (A1:B5). I have a second table with the day's tasks start times and their end times (D1:E17), all being 30 minutes to complete. I have a running count (G1:G17) of how many times an employee completed a task as the employee can only complete 4 total tasks and taken out of rotation and cannot be assigned anymore.

I need a result like in H1:H17 that follows the schedule and assigns a free employee (column A) based on their start times (column B), the 30 minutes to complete the task (column D and E), and on their running count of no more than 4 (column G)