We keep mornings as dead simple as possible because both parents are cranky in the mornings and we have to get out early. So, just getting dressed, brush teeth and hair, wash face, breakfast. Backpacks and lunches are all taken care of the night before.
Anyway, most of DD9's responsibilites are at night. I was getting annoyed by having to remind her of them every single night--I felt like she was old enough. Also, like your kids, she would wander off and get distracted. Yelling ensued. I made an exhaustive list, including some if-then scenarios ("If it is Tuesday, remove music from backpack") and even general hygiene stuff ("check and see if your nails need clipping") and it has been a HUGE help. Like 10000% better. At bedtime, I just say "Check the list" or "Did you do the list?" and sometimes, I admit, march her over to it to make sure she reads it. I admit, I did not actually realize how many things she has to do till I saw it written out. Also, I was not giving her enough credit for actually wanting to be responsible. She wants to. It was too much for her to remember at this age. She is not ADHD or anything, as far as we know, but tends a little scattered.
Maybe you could make a morning list of things they must do before breakfast? POssibly, if you want to get hardcore, you could not serve breakfast (if you make it) until it's done.
But my kids also take a full 45 minutes in the morning, mostly because they eat like horses and take forever to do it.