You are probably already doing this but try the night before to prepare everything the two of you (you need a buy-in from your child) can for the next day - clothes picked out, lunch packed, school supplies laid out at the door, breakfast decided on, etc. Then have a brief discussion before bed about the time everyone will get up, how the morning will flow, and what the expectations are. Ask your kid for suggestions on this morning routine thing (buy-in again). Keep it positive - nothing preachy. That alone takes much of the stress out of the next morning.

At bedtime, spend a few minutes with your kid doing something uplifting such as reading something positive, or discussing something good that happened that day, or mentioning something you each are grateful for and find something good about your kid to praise.