Simic, re your OP, I find what works for us is to spell out veeeeery slowly what the possible consequences of various outcomes/choices will be. I have had a similar problem with DD aged four being unwilling to stop her glitter creation in order to go to preschool (which she loves and cries when she can't go because she is too poorly). The days I drop her, I am not working, so it's slightly different from your situation.
BUT, what I do is say 'now, look, we can do this the nice way or the nasty way. If we do it the nice way, I am going to put your glitter picture here and your glue here and keep them really safe until you can get home and finish your lovely picture. Nobody will get upset and nobody will feel cross and you will put your shoes and coat on quickly and I will be really impressed that you did it all yourself in a really grown up way without me needing to help you and you will feel proud that you did it yourself, too. Then you can get to school on time and there will be lots more fun things to do there' etc etc - you get the picture.
Then I say 'If we do it the nasty way, I am going to have to make you put your shoes on because you cannot go out without shoes. I am going to make you put your coat on because it's cold. You won't feel as proud as if you put them on yourself and we will probably be late which the teachers at preschool won't like. They like us to be on time every day because that is how school works. The teachers turn up on time and it's not very nice for them if the children are late. Probably, if we do it the nasty way, you and me will both feel upset and someone might cry and when you get to school you won't feel as happy as you would if we did it the nice way.'
I don't know if your DC would go for that, but after a couple of years of spelling out what the nice way and nasty way of doing things are, DD has never yet chosen to do it the nasty way (I would totally let her if she wanted to).
She is four, btw, so I can't imagine that a five year old wouldn't be able to grasp it. Now, I usually only have to say 'look, shall we do this the nice way or the nasty way?'
Some things are non-negotiable. Being on time for work is one of them - you could also point out to her that being late is actually causing you a problem and that nobody likes to be told off (which is what will happen to you if you are late, in simplistic terms).
I don't think there's any need for frogmarching etc. Children aren't dim, just a tiny bit self-centred!