Controversial maybe, but I am really not a morning person and don't think I ever will be. I tried making myself get up really early before anyone else in the house, gave myself loads of time to potter around and wake up gently, introduced elaborate morning skincare routines etc, all the things that are recommended to make you actually enjoy mornings, and all it led to for me was backsliding, repeated alarm clock snoozing and a general sense of shame and guilt - so I've now gone the other way entirely and accepted mornings are hideous and just to get through them anyway I can. It helps that I no longer have kids to get out of the house as well as myself. I've worked out what a bare minimum morning routine is for hygiene and general functioning, I do as much of it as possible the night before such as setting out clothes, packing a bag if I need to leave the house etc., make my packed lunch, even set the coffee machine all ready to go, so when I get up in the morning it's quick wash and teeth clean (I shower and wash hair etc the night before), basic skincare and make-up, dress in pre-prepared outfit, feed pets, grab pre-prepared bag and coffee and go. I don't eat breakfast any more which was also revolutionary for me after years of miserably forcing down cereal in the morning feeling vaguely sick on the 'breakfast is the most important meal of the day' mantra - I know it's crucial for some but not all, I don't find I eat more in the day now, at all, nor do I get mid-morning low blood sugar or similar, but obviously if you do need breakfast then you could make yourself something like overnight oats or set bread in the toaster ready to go or similar.
Basically I am racing myself to spend the minimum amount of time while still not smelling bad or looking unacceptably rumpled, I'm pretty good at it now 
, it's impressive how quick I can be out of the house but the crucial thing is I know when the alarm goes I absolutely have to get up and get going right away, as there's no slack in the system whatsoever, I will be late if I even give myself a minute to go slow, this is the only thing that seems to get me out of bed remotely on time. To be fair I feel awful and groggy for the first hour after waking up but I always did anyway, the difference is I spend that hour doing my basic tasks and on the commute rather than effectively on my own time as I was when I was trying the 'wake up gradually' method, so it's OK (disclaimer I commute on the train, of course if you drive to work/school run I wouldn't recommend doing it half-asleep)... For preference I would never ever get up before about 10am so if you are lucky enough to have that flexibility in your life then I'd embrace it rather than trying to force yourself to become a morning person, I know for some bizarrely it's a moral issue, for years i felt a vague sense of shame and was tormented by my (long-deceased) grandfather's stern voice n my head going on about 'lazy folk lying in bed all day', 'wasting the best part of the day' and so on, but I don't actually spend any more time in bed if I sleep 2am-10am than someone that sleeps 10pm - 6am like he did!