Thanks for all the comments.
First, it's true that I, OP, am the woman. I had tried to make my OP genderneutral because I know responses are often affected by the sex of the OP, but I'm also not surprised that it was clear to most of you ...
My DP isn't lazy, but (in my view) hopelessly inefficient - loads of time spent hunting for shoes etc. I used to make sure that things were laid out the night before (also when I was on maternity leave) and have to say that when I am on my own, which I sometimes am, getting the kids ready is not a problem. I've explained all this to him, but I really can't do it all myself the night before. It's too much for me, and I resent it, because it's something that (like someone upthread said) would really not be very much work if tnings were organised as they went along (shoes/coats put in the right place when kids get home etc.).
I get up 5-10 minutes earlier than my DP, but am often awake in bed with DC3 from 0615 or so.
I can't not work the hours I work, but I do see my kids. One day most weeks (Fridays) I am home at 1500 and pick the kids up from school. We do start bedtimes late (but we live abroad and it is more like that here), sometimes kids have dinner with OP (and me) at 1900, sometimes they eat before I am home, sometimes we eat together.
I'm happy to give kids breakfast if they are up before I leave, but I really resent being made to feel I should rush around dressing them, comb their hair etc. while DP finds shoes, makes snacks for school etc. (especially as I think a lot of this could/should be done the day before, and I am prepared to do half of it, which I agree takes only around 15mins max).
I thnk some of you are right about the organisation, I know that if we did it the night before things would be easier, but I just can't get beyond my resentment anymore. The general chaos in the mornings is bad for me, us, the kids.
We could afford more childcare/help, but we both decided that we wanted one of us to be around for the kids after school, and DP wanted to do that (I am the major earner), so I gave up a slightly part time regime (two afternoons at home) which I loved, and DP stopped work. It was very good for my career, so now I am glad I did it. DP, on the other hand, feels unappreciated by me. Which is partly true. He's very, very good with the kids, but the lack of organisation drives me insane, also because the kids need some structure, I think.
I honestly don't know what to do. I'm exhausted.