I have two young kids, so mornings are quite chaotic. But I have found the best way to start the day is the night before, by preparing a healthy z'nuni for the older daughter, and preparing my breakfast (which I unfortunately do have to bring to work to eat). That way I can start the morning a bit easier, and less rushed.
Once we are out of the house, I love to ride my bike to drop my kids. I never would have thought I would fall in love with the bike so much, especially as the weather gets colder, but the morning bike commute has now become my favorite time of my day, in winter time the best (fortunately not much snow where we are).
I know there are ways to improve the morning still, I love when I have time to do some meditation, stretching, or just planning my day. Though this isn't always possible, it is where I aim to improve.