I have the same problem. I've come to learn that my issue is not that I am late all the time because I am lazy or disrespectful or whatever else one may think,

I have the same problem. I've come to learn that my issue is not that I am late all the time because I am lazy or disrespectful or whatever else one may think, but that I don't have a good sense for estimating how long things actually take. And, I am optimistic when estimating. My solution is to become aware of how long things take throughout the day in an effort to make better efforts at planning. How long is my shower? How long does it take me to get dressed? How long does it take to get to my car and my actual commute, etc. With some real numbers, you can start to be realistic about what it takes you to get to work and so you can work backwards from there to make sure you leave on time. Works for me. I don't miss my train anymore.