I'm not one to stress, nor am I one to be late. The way I manage, is to act with efficiency, and to build in some extra time. You are wired differently. With that in mind, here are some concrete suggestions-
1. buy or make a morning routine chart for your self and for your son. have it list each and every activity including- wake up, use bathroom, wash face, brush teeth, brush hair, get dressed, make bed, set table, eat breakfast, clear table, brush teeth, (play a game/ read a book/ watch tv if time allows) take lunch, take school bag, wear coat (all laid out the night before), leave home 20 minutes before you need to be at school.
2. take ownership of the laundry, do it, and make sure it gets done. Don't have your husband call you to tell you its sunny. You can see as much by looking out the window.
3. have a gronola bar or protein bar or a banana, or a yogurt in your purse at all times. If you are forced to skip a meal, you need not get cranky/irritable for lack of food.
4. have an evening activity chart for you and your son. Include an after school snack, homework, yoga/ ABC games, making eating dinner, bath time, brushing teeth, wearing pyjamas, readying things for tomorrow (playing, if time allows), stories, prayers, and bed.
5. since you know that a yoga session helps you decompress, do an extra one nightly after your son goes to sleep. That way you don't loose time and energy to the worry which has you up till 1-2 am.
6. do it gradually, or do it in one fell swoop, decide which will work better for you. shifting your wake up time earlier by 15 minutes every two days, or taking the leap to the 6am wake up. Either way be prepared to have it take you 7 days to get acclimated to the earlier start.
7. you could do a cleaning schedule too if it suits your fancy.
The overall benefit of having these written, schedules on display is that there is never any doubt as to what comes next, and never any fear of omitting an important step. You can rely on the schedule, and then don't have to clutter your mind/ add to your worry of keeping a mental to do list.
Good luck to you and yours,
F. B.