I make sure I preset everything I need/want the evening before, so it feels nice to get up and not as a chore.
-> coffee machine cleaned, fill water reservoire and beans, put clean mug under it
--> in the morning : put it on, while it heats up go to bathroom, coffee as soon as I get out
-> Pack all the bags I need to take or put the stuff I need to work on on my desk and clean
--> in the morning : no frustration or hurry when getting ready, so less dread to get out of bed
I don't do breakfast, but I suppose it could be nice to prep a breakfast you really like as well
The first times may still suck, but because it's so much nicer to indeed be able to get up immediately without any effort, it'll soon get easier as you expierience how nice it is!