Yep.. figure out how much "real time it takes him" and then add that time to the routine..
In the beginning, yes, you will need to wake him up and say, time to get up. potty and brush your teeth.
Give him 5 minutes then check on him and tell him, go and get dressed.. (lay out the clothing the night before. include socks etc.)
Then tell him come eat breakfast. The night before decide what he will be eating for breakfast. then it is time to leave. Some children can watch TV in the morning.. and some can not.. That is up to you.
His backpack, jacket.. whatever is by the front door and all packed from the night before. Make sure anything that needs to be sent back to school is in that backpack. When he gets home that back pack needs to be placed in the same place every day/ We had a bench right next to our front door and that is where my purse, my husbands bag and our daughters backpack was placed for all of those years.
I will tell you, my daughter and I are not morning people. I used to wake her up 10 to 15 minutes earlier than necessary. I would wake her up and say.. time to get up, you need 5 more minutes.. Most times she said, yes, so then 5 minutes later, I would say, time to get up.. most of the time she got up and started the morning routine, but every once in a while she would ask 5 more minutes, please? and since I had it as cushion time, I could allow this. I did not ask her a bunch of questions in the morning.. because it made her nervous and irritated.. She needed quiet in the morning. and I was fine with that.
We decided clothing for the week on Sunday nights. But some people do it each night for the next morning.
We also discussed what she was going to want for breakfast for the week, so I could make sure we had it. There was a time, she only wanted a slice of dry toast and some cut up fruit. Sometimes just a fruit plate, sometimes, a bit of cereal.. She is not and has never been a breakfast person.. She would request leftovers some mornings and that was fine.
We also discussed what her lunches were going to be for the week. Some children purchase their lunch at school, so make sure their is money in their account to cover it, in case they forget their lunch at home.
Really within a few weeks, our daughter was so in the routine, all I did was make sure she was awake. There were times that she was pokey.. if she got into this habit.. without her even knowing.. I would wake her up even earlier.. Usually she would get back on the schedule pretty fast.
In all of her years of school.. Our child was NEVER late to school. Never. Kinder through her senior year. It can be done. We all just stayed as organized as possible, I did my part and expected her to do hers.