Never mind having long written lists of things to do - teach yourself (if you have ADHD) in a way that your body remembers what to do, even if your brain is dealing with three million different things at one.
It does take time and effort, but it works.
Put a hook on the wall by the front door that's directly in your path. You walk towards the door, you pick up the keys whilst saying 'Keys', you open the door with your keys in your hand whilst saying 'Keys', you shut the door with the keys in your hand, saying 'Keys'. You come in with the keys in your hand saying 'Keys', you shut the door with the keys in your hand saying 'Keys', you walk in and place the keys on the hook saying 'Keys'.
By doing that, you are teaching yourself that you only touch the door whilst holding keys, thus reducing the chance of shutting yourself out and muscle memory teaches you to make those exact movements every time you walk in or walk out.
I have absolutely zero memory of putting my keys on the hook by the door or of taking them off in the morning, but they are there every time and I don't lock myself out when I'm taking the bins out or going to work - I can think 'KEYS!' whilst they are actually in my hand as I'm closing the door. There's also a spare physically attached to my bag, just in case of a breakdown in the routine.
Three steps on from the door is the shoerack. It got moved because that's where I kick my shoes off and there's no point having to remember where I've left the things rather than take them to the shoerack. My coat goes on the bannister. No point having a coat rack, I just didn't use it, but this stops me dumping it on the settee and having the cat happily sit on it and cover it in fluff.
I chucked out the clothes that don't fit nicely. No point getting distracted by them. No point keeping stuff I don't or can't wear, it's just another distraction. I don't put off something I know I'll otherwise need to do in a rush/when time is more critical. I'd rather wash my hair at night when there isn't a need to be out of the house at a certain time. I've got a hairbrush upstairs, one on my route out the house just before I pass a full length mirror (ideal for doublechecking everything is right), one in my bag - I only have one bag or coat on the go so I don't pick up the wrong one or leave anything important behind - and one sits in my desk at work, along with a can of dry shampoo, a toothbrush and toothpaste.
The ideal result is one where, whatever hundred things are bouncing round in your head, the actual getting up, dressed and out of the house is so streamlined and ingrained in your body that your active brain doesn't even need to think about it - you could mime those movements.
Teaching yourself to do that does take time, but it also helps for finding other things that are missing - 'where's my bank card?' - [going through the movements as you do this] 'In. Keys. Shoes. [looking on side in case the card was put down beside the rack or put in the shoes] Coat. [check pockets]. Sit down [look on settee, sit down, look at coffee table]. There it is. Found it!'.
Try to not have other things going on in the house. Only have the TV/radio on when you're actively watching or listening. Don't have either on in the morning, as they are time vampires like no other, especially the TV.
Whilst some people have not been able to, if someone has passed their driving test, is capable of cooking/feeding themselves and hasn't burned their house down so far, there's a very good chance that they have previously been able to learn to do things in a sequence and now don't need to think about the steps. If they've done that, they can learn new steps to ease some of their difficulties.
Any disability is a bastard. But there's working to find ways to adapt/work around them and then there's 'I'm disabled, you're all picking on me'. I won't ever run a marathon, but I can find ways to cover 26-and-a-bit-miles without having to run all the way. I won't like getting up in the morning, but I can find out ways to work with when I'm likely to sleep, more likely to wake up, alarms that don't shock me as much, how to not worsen my morning in having to get up and not trip over crap left on the floor in my way. And cutting out the extraneous stuff means I'm less likely to be distracted by sorting them out whilst I need to be sorting something else.