We have very relaxed mornings, I'm not a stickler for jumping out of bed and getting dressed. Mine just sleep in basketball shorts and Ts, so it's not like they're indecent. They'll wear those all day unless we go somewhere.
I don't serve lunch until everyone is showered and dressed. Two of the boys tend to get cleaned up as soon as they wake up, while two like to hang around in their pajamas for most of the morning. It works out well.
I have been a slacker at times. Lately however, especially now that we have a "teen" I have started having the kids get up and get cleaned up and dressed before school. They have to get up make bed, eat, do chores, then groom, bath and dress. I am also getting them up earlier than before. I think that mine are getting old enough to start having some good habits instilled regarding time management.
We have never been a family that stayed in PJs or put them on way before bedtime. I think we are more the get up and get dressed sort because of all the years of being a foster home. We had a lot of teens and older kids so it was just better for everyone to be dressed.