If we are going to talk about ideals in the context of church and ministry (of pastors or other positions in the church) then I think we have to look at a few points:
Every member of the body practices the "one anothers" with each other and are doing the ministry of the church. The point of apostles, evangelists, prophets, teacher/pastor is to equip the body so they are the ministers. Obviously today it's near backwards expecting the one main person to do ALL the work which leads to burnout. It's unfair to that one person and equally unfair to the body.
Elders (episkopas) would have a plurality of leadership and function in this manner. There isn't a need for one person or a monarchal episkapos. They would share the "shepherding" function as a group instead of just one person. This is where the social work, therapy, errands, etc as mentioned in the video would take place if no one else is willing to do it... instead of just one person. This takes the burden off those who need to focus on other areas whether it be teaching, praying, serving, specific projects/tasks/ministries.
Teachers could focus on teaching. Yes, sometimes apostles did this in scripture and sometimes the elders (episkapos) practiced this functions but there were also people who taught in scripture. There are congregations where teaching is something that is rotated or shared among many. Instead of doing it 52 times a year (as sermons + sunday school + bible study), you might teach once a month. Then you get the benefit of being in the Word and focusing on the passage or concept you want to teach. It is equally as rewarding if not more so since when you teach, you are completely prepared instead of burned out from a long week with a half effort sermon (as that is one of the most miserable feelings). I have been in this context. There are happier teachers with better messages with significantly less stress. Hearing something that someone has thought about, prayed about, and studied for a month or more can be extremely rewarding.
If you feel the need to focus on teaching, a change of venue might be in order. If you have gifts and calling in an area but feel you can't do it without getting fired from your job, then leaving might be an option. If I feel called to evangelize but am working full time repairing cars, there has to come a point in time where I make a break from my professional to fulfill my calling. If modern day pastoral ministry as a paid profession keeps you from what you feel called to do as the demands of the job take over what you are really supposed to do, it might be time to think about a change. Many people have done this and found rewarding work to do outside of that context.