If you started work at 12 noon and DH started work at 9am. One DS age 13 who DH gives a lift to school. Everything prepped the night before DS obviously gets himself washed, dressed and DH will make him eggs or porridge. Would you get up to see them both off or stay in bed until you needed to get up yourself? This happens 3 times a week.
YABU-get up with them
YANBU-enjoy the lie in, they can sort themselves out.