I'm not really a shorter either. But I CERTAINLY get to the end of my tether. Particularly around sleep. Really grinds my gears when my 2yo is pratting a bout in the cot.. and I only have 1!
Yes, I agree, humour is a good one. I'm also one of these people who has to be 5 hours early for everything, so we're rarely rushing (again, only one!), so time is your friend.
I used to teach at a fab pri school school that supported parents with home visits (if they wanted it), the amount of parents who struggled with this stuff is unreal - you're NOT ALONE HERE!
One thing that always helped with daily routines was working with the kid to draw up their own schedule with timings / pics if necessary, write it out on big paper then say that because they're getting older, they can be in charge of their own morning/bed time. You can go through it a few times + have a few dry runs at the weekend, but then all you have to say is 'check the board'. If they still don't get it together, maybe use egg timers for each task . They usually like taking ownership.
It sounds Like a very 'teachery' thing to do, but we had overwhelmingly positive feedback from the parents even months down the line. Just an idea