No new tips here but there is a general theme of the whole household not doing stuff the night before, and screen time/taking the piss really.
you're the parent.
get as much ready the night before as possible.
no screen time in the mornings - OR, only once they're ready to go out the door as an incentive. quite frankly i often see that incentives just lead to tantrums and whining, so it's better to have a blanket rule which younger children can easily understand.
school dinners where possible, if not, make it all up the night before, as suggested.
same to laying out clothes etc.
the idea of doing homework in the mornings as some posters have suggested sounds stressful - again, move to the night before if it's similarly stressful.
build in rewards and not all punishment for doing the "right" thing, it depends what yours are motivated by (again, i'm not convinced more screen time is a great parenting tool)
visualise timings. sand timers, clocks, whatever they understand. don't use a phone, it's more screen time - use simple tools, not tech.
ample warnings: 5 min shout to getting in the car. 2 min shout. make it clear you expect ready to be ready -no faffing with coats or shoes when you leave NOW.
the 10 year old should be almost independant by now, if not, time to start being harsher - your mornings sound ridiculous and stressful for everyone. better for the whole family if you reset expectations on what does and does not happen in the mornings.