M.P.
I have a couple of ideas. When my son was around the same age, I had the same problem. In the morning, I would get myself ready, then see if he was ready to wake up. If not, I would tell him that he will have to wear his pajamas to daycare and bring his clothes in his backpack. For a few months, this is exactly what we did. He would be sleepy as I carried him to the van and brought him to daycare. By then, he would be more awake. Or on days he was still sleepy, he would lay on the beanbag until he felt awake enough to participate. The teachers didn't mind. He would change into his day clothes after waking up more.
The second is from a friend of mine at work. She lets her kids put on their clothes the night before. they would sleep in their clothes for the next day. That way, they were all dressed and pretty much ready. Takes less time fighting with the kids and they are already dressed.
hope these ideas help out!
M.