Everything done the night before - even table set, cereal/jam out, everything. Lunches made, water bottles filled.
Each child has coat, shoes, bag hung on a cupboard in the kitchen.
Not just toothbrushes, hairbrush, flannel etc. in the downstairs loo - but actually in a basket in the kitchen (that then is stored in the downstairs loo).
Baths / showers the night before.
They get up and dressed upstairs. Make own beds.
Then downstairs (once - once they're down there's no going back).
We are lucky to have a table in the kitchen, but once they are in there, they are basically not allowed to wander around. They have weekends for that!
Breakfast, teeth, bags, coats etc. at the ready.
If they are ready ahead of time, they can read or play paper and pencil games together.
Absolutely NO screens in the morning!
We introduced this after a family meeting where we all agreed that mornings were stressful and that we all had to work together (i.e. they had to not work against us!) to get out of the door on time. We stressed that we have jobs to go to and also have to be on time and ready to work. Your DCs are old enough to start to understand this.