Quick disclaimer: these are the setups i use, it doesnt mean they work for everyone. These are not universal techniques. The Warps that have an R2 input only work on boss levels. The Final Warp and especially Superior Warp setups are very difficult and not very consistent, but its the best we can do for now.

Wrong Warp Setup: Press down d-pad and then quickly press X.

Hyper Warp Setup: Press R2 and R1 at the same time and then quickly press X.

Ultra Warp Setup: Press R2 and R1 at the same time, then quickly press down d-pad and then quickly press X.

Final Warp Setup: Press R2 and R1 at the same time twice in a row, then quickly press X.

Superior Warp Setup: Press R2 and R1 at the same time, press Down D-Pad, Press R2 and R1 at the same time, then quickly press X