Ok, neither of you has covered yourselves in glory this morning. There's a fair bit to unpack here.
Firstly, he was stroppy with you because he doesn't like getting up early. Well, tough shit. Welcome to adulthood. It's OK to not be a morning person, but it's not right to take it out on others, especially the person making your breakfast and chauffeuring you to work!
Telling him to hurry up, and then telling him you're actually early when he has hurried up and got ready as asked was probably irritating for him to be fair. But I can see that his stroppiness was also irritating and I also get that because you're ND there might be an issue with needing to leave 'on time', worrying about being late etc.
Raising your voice isn't helpful, but neither does it necessarily mean you are "abusive" based on this one incident. I can see why, as the person who is making his breakfast, preparing his packed lunch, driving him around and doing pretty much everything else you got angry with him for being stroppy. I imagine you were feeling unappreciated, which is difficult. But being stuck in a confined space with someone shouting at you is really unpleasant. Maybe don't make his breakfast, do his packed lunch and drive him around if its going to lead to resentment?
I can see why he chose to get out of the car rather than being shouted at, it was probably sensible to remove himself from the situation. His reaction was way over the top though, screaming at you, throwing his bag and the "you'll never see me again" honestly sounds like a kid having a tantrum. It sounds like at this point you'd both lost all perspective and the situation had gotten completely out of hand.
It sounds like what started as something relatively trivial escalated very quickly. That can happen when people are tired and stressed, but if its happening regularly then you have some serious thinking to do about what needs to change. How is the relationship generally? Do you argue like this a lot? Are you usually happy?
It sounds like you need a conversation about the division of labour, and the morning routine in particular to see if there is anything you can do to make it less stressful.