Our routine has always been as follows:
7 a.m. - get up. When the children were smaller, if they happened to be still asleep I would get dressed then wake them.
Everyone dresses and goes straight downstairs for breakfast (bibs/aprons for anyone who still makes a mess). All eat breakfast together.
The next bit always depended on whether my husband had left for work or not. If he was still around, I would take my cuppa into the kitchen and make packed lunches, he would supervise kids finishing breakfast and cleaning teeth before he then left for work. If he left early, obviously my packed lunch making took that bit longer.
Once everyone had had breakfast, cleaned teeth and lunches were done, we used to fit in a bit of reading from school books.
About 8-10 I would get everyone to brush hair, go to the loo, get shoes on etc, ready to leave the house at 8.20. Obviously, if I'd needed to be out of the house earlier like the original poster, I wouldn't have done the reading in the mornings, but we always seemed to have a bit of spare time.
Obviously, when my eldest started school at age 4 and I also had a 2 year old and a 2-month old, this was a much tighter schedule, especially fitting in feeding the baby and doing things for a toddler. So yes, it could be hard work.
But I always kept to the routine and it's been a breeze for years now - my 3 are 13, 11 and 9 and are totally used to our morning routines. We still get up at 7 a.m, and sometimes by 7.30 we're all sitting there ready and chatting before the elder two go off to school.
I think my main advice would be get the children up when it suits you, don't wait for them to wake up. Perhaps try 7 or even 6.50 for a bit. If they are going to bed early enough, it should't be a problem. And definitely no TV or other distractions in the morning.