You need to stop this morning nonsense and start behaving like a women who doesn't take shit from anyone.
Stop running around like a scalded earwig with clothes for the children to get dressed under the covers.
Stop running back and forth with their toothbrushes from sofa to bathroom.
Set an alarm in the morning.
Bang on their doors, stalk in, open their curtains, and tell them it's time to get up. Their clothes can be left out the night before - by the children. They can dress themselves. Then they can brush their teeth either before or after breakfast. If the house is cold, then it behoves the children to dress fast.
Meanwhile, you sit down and have a cup of coffee and get prepared for your day.
It's up to the children to get up and dressed and downstairs in time and be ready to leave for school when it's time to leave. If they're not ready then they can absorb the consequences of being late.
Do not do any more of the running after them ever again. They are treating you like shit because your behaviour is that of someone who has lost every scrap of her self respect and has no expectations whatsoever of age appropriate behaviour from her children.
They are 9 and 10 fgs. You are treating them as if they were 2 or 3. You are doing nobody a favour here.