Having a go-bag for each errand and every activity your kid is enrolled in makes a huge difference on your morning routine, and getting out the door. Soccer, ballet, music lessons. Whatever your kid needs for that particular activity, ensure you have a separate bag for each kid, and each activity. Have the bag packed ahead of time, and if possible, keep it by the door.
PS. the diaper bag insert I use
www.daraboxer.com