And I thought I was bad--ha!
Routine is what worked for my 7 and 9.5 year old boys.
They know what time to get up from breakfast (8:30am), get dressed and brush teeth, in the care at 8:45am. The younger one will come in and wake DH and I up if it's past 8am

. I WAH and DH goes in later and works later.
It's a well-oiled machine and when they get goofy and begin chasing each other---I just say 'look at the clock'. They are obsessed with NOT being late to school and I capitalize on that. Their school hands out tardy passes and the older one wants to get in early to get one of the 'coveted cubbies' vs hooks.
Dh is chronically late and one of the things I was determined to do was not have that rub off on my sons!!! It's worked. I just ditch him and drive separately if he is going to make one of the kids late for a game/pre-game warm-up. Travel is also strict about being 'on-time'.
My boys are pretty calm. I am a micr0-manager because I have no patience so DH has been really good about making them do things for themselves even when it's painfully...PAINFULLY slow. I was always doing things for them because it was easier for me. Not a way to raise competent individuals. I am following DH's lead the best I can (without it interfering with my need to be on time

---I just have to allot more time for things.