You did not fill a roll they needed. You were not prepared for the job they were going to give you. If you want to be in a raid, you have to be able to contribute to the team otherwise they will find someone that can perform the tasks. Simple fix. Unlock defender.
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Just as my edit said, there was two other titans. Couldn't they do that?
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They could, it is easiest to have 2 Titans in the middle at Oryx. One with Blessings and the other with Weapons of light to kill the Ogres and 4th knight. The Third Titan (if available) Drops a Blessings Bubble in the shade. Maybe they had a strategy and you did not fulfill the roles they needed. If it was your Fire team, you could make an exception for a hunter without Tether, Titan without a Bubble, or Warlock without self rez (really not to important unless they die a lot)? But for them, They decided not to carry people on the run. I don't know if you were doing normal or Hard, nor do I care, but you need to be prepared for the raid and know what the expectations of the class you are playing are. Then work to fulfill the expectations. Or just make your own team.