Sounds like poor communication and expectations all around.
I wouldn’t be able to travel with people like your in-laws where just because they paid, they get to dictate everything including what I can eat, f-k that for a game of soldiers. I also would be questioning my relationship if my DH spoke to me the way yours does and the apple obviously doesn’t fall far from the tree by the way his family acts towards you.
My own in-laws wouldn’t behave this way and the only expectations when we have travelled together (8 adults and 6 children) is sharing an evening meal together.
If they wanted to set off at a specific time, you should have been told. Early is extremely vague and your DH knows your routine so should have said “we are leaving at exactly xyz, please be ready” or you ask “hey what are the plans for tomorrow and what time” the night before.
Considering your BIL is the only one seemingly being inclusive towards you, I think it’s more that your DH and his family have a certain dynamic and expectations and expect you to fall in line to them.
Tbh, if my food was hot and had arrived before yours and yours would take longer than 5 minutes, I wouldn’t wait for yours to arrive. You would have a hot meal but I wouldn’t and that wouldn’t be fair because you chose something that took longer. Depending on the dish, you can often estimate the time it may take (pan vs oven). However, if it was cold plates, I wouldn’t mind waiting 5-10 minutes unless we had another activity planned afterwards and even then, that would be on you to ask and consider the time.
If it is something like you all went to gelato place and you ordered a molten lava cake and there was something pressing afterwards, yes I would say you were being a bit unreasonable but if there was nothing pressing afterwards, then no.
I wouldn’t holiday with them again and definitely think you should be looking into your relationship with your DH and how often he talks to you in such a manner and does it escalate when his family is around.