Mine have a routine, once I've got the routine going (takes a while after holidays) there's a minimum of fuss. I find that they take much more notice of an alarm than they do of me too.
I hate doing stuff the evening before, because I feel like school is taking over my life if I do, so here's how I work (5 and 8 year olds) ...
6:30 - I get up (kids are already up and watching TV). I take my time a bit, maybe have a shower and get dressed, maybe just chuck on joggers and go down
7:00 - first alarm TV Off. Breakfast, while they are eating I find their clothes. After they have eaten, they take their clothes and go and get dressed, I make packed lunches.
7:30 - second alarm - everyone should be dressed, and I should be just about done on packed lunches or we are behind schedule. They are allowed to play/watch TV once they are all dressed.
7:40 - They are playing, I've put lunches/water bottles/whatever else in schoolbags, I get dressed/have a cup of tea and browse the internet.
7:55 - Shoes on, coats on, out the door to the car.
8:15 - dump them out the door at school, get on with my day (I'm lucky, we're allowed to drop and run)
I'm lucky - the kids don't have uniform, and there's no PE kit as a result, plus they are happy with boring, repetitive lunches/breakfast, so no thought required there. At other schools, with more stuff to organise I've had a little less time for a cup of tea.
I'm not going to deny, getting it implemented was a bit of a fest of yelling, crying and stomping for a week or so. And it still descends occationally. That's when I get draconian about the playing/TV/obedience to alarms for a day, and they fall back into line.
I find that whilst it sounds like a military operation, it means that I don't need to think very much, so it's much less stressful