A common reaction to stress is to slow down to deal with whatever is happening. Often the problem is that there isn't enough time to get ready. Bite the bullet and readjust schedules as necessary. Emotionally Intelligent Parenting is about being realistic and certainly about being aware of our feelings. And if they don't like it, all they have to do to get the old routines back is to be on time in the morning with minimal hassles.
Life is always a matter of choices and consequences.
Problem solve with your kids, but you set a clear goal. Make your decisions consciously rather than just letting these things happen. See what other schedule adjustments can be made to free up more time in the morning. You are in luck. This cliche helps us to remember that time is not the only issue we have to be concerned with when school beckons.