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The mod 'Kerbal Alarm Clock' has a transfer window calculator built in and tells you exactly when they are.
If you want to find the angle between any two planets, you'll have to take the orbit exactly between your 2 planets, find how long half of that orbit takes, and calculate how far each planet moves during that time.
https://alexmoon.github.io/ksp/
...sorry
First you must decide what your idea of an optimal transfer is, a shorter travel time or a lower delta-v expenditure, then you can work out your optimal departure plan.
Moho: ~110° Behind Kerbin
Eve: ~54° Behind Kerbin
Duna: ~45° Ahead of Kerbin
Dres: ~75° Ahead of Kerbin
Jool: ~90° Ahead of Kerbin
Eeloo: ~105° Ahead of Kerbin