Instead of Agility, another approach is to Dynamax your Lucario or other Justified Pokemon right away so that it's more resilient to focused fire and you're not spending a full turn with no hindrance to the opponents at all.
Dragapult is another possible Beat Up user. It hits harder than Whimsicott, but Lucario doesn't really care about its damage output anyway, and Dragapult is so fast that it can go before Adamant _Scarf_ Lucario and put the boosts up soon enough to get a turn-1 Earthquake with 418 speed and 1400 attack. You won't want to use Dynamax if you're using Scarf, but a Dragapult + Dynamax Lucario lead pair has the advantage that the opponent can't do anything productive with Fake Out to deny _either_ of your team members their turn.