You just have to accept that you're going to be spending some extra time prepping things when commuting by bike as opposed to by car or public transit. Like others have said, prepping as much as possible the night before helps with the morning routine. It's easy to forget things when you do it in the morning just because you have a time constraint. Doing it the night before allows time for you to remember the little details that get overlooked in the morning haste. This includes things like lights on your bike, laying out the clothes and gear to eliminate any decision-making in the morning, and food in the fridge ready to be packed. I'll put my food in my pannier the night before because the bike is in the mudroom where it's cold enough for food to sit over night. One less thing to pack.

Not having to shower helps a lot provided you don't sweat too much. I have a shower at work but don't always use it. When it's -20*C it's pretty difficult to break a sweat. But when it's 30*C it's difficult not to, regardless of how slowly you ride.

So, yeah, there's lots of prepping to do, but as others have said, once you settle into routine it becomes second nature.