Prepare the night before
Over the years I've heard many stories from parents, most about clothing, breakfast and papers. From these parents I have also learned a few solutions. The overriding one is to do everything you possibly can the night before. A common clothing issue is having only the scratchy T-shirt clean enough to wear, then having to dig in the dirty clothes basket for the least dirty soft T-shirt. Or it may be the wrong socks.
I'm certain there were knights who spent less time looking for the Holy Grail than I have spent looking for socks that didn't have that uncomfortable seam in just the wrong place. Wearing them inside out helped a little. Then my daughter turned 6, which seemed to cure a lot of things.
Years ago I heard a well-known psychologist speak about his own children's resistance to getting dressed and how he once took them to school in their pajamas (no wonder we psychologists have the reputation we do). Nowadays such a strategy might get you reported to the authorities, even if it made you a hero to other parents.
Choose your battles
At a recent parenting workshop, a mother offered, almost apologetically, that she warms her daughter's clothes in the dryer. It makes them feel cozy and makes the child hurry to get them on before they cool off. The mother of a middle school student subscribing to the "choose your battles" approach occasionally allowed him to sleep in his clothes. She noted that he looked no different from his rumpled peers, and he passed the sniff test. Following the "do everything you can the night before" policy, a father shared his tip with glee: "My daughters have to set their clothes out the night before, or else I pick what they wear that day. And they know I don't have very good taste."