I've been doing the 2 drop-offs/pickups for almost 3 years now. Right now, my oldest is in school and my youngest is in daycare. We leave the house at 7:05, drop my youngest off in town at daycare and get to the bus stop by 7:20ish. Then I make it to work by 7:40. Same thing in reverse after work. I have to leave work by 3:30 to get to the bus stop, then pick up my youngest. Thankfully, neither place is too far out and I make a big circle. I do always have to make up hours here and there but dh works longer hours than I do so he can't do any of it. Hopefully with his new job, he'll be able to do some pickups.
I do as much prep as possible the night before, I meal plan, I take total advantage of my lunch hours to clean up my house, do laundry, grocery shop. I get up early and get completely ready before I wake the kids up so I can focus on them and we can get out the door. Mornings are still usually rushed, but we get there and everybody's dressed and fed.