I used to really struggle with the always late thing, despite how hard I'd think I'd try too, the thing is as long as you can't actually be on time then you just need to try harder, and to try harder you need to observe what you're doing wrong. Sometimes it's underestimating the time it'll take you to get somewhere because you're so obsessed with getting there you almost don't consider the commuting time, as though you'll magically teleport. Procrastination should be hacked into pieces as soon as you can sense it or else you're essentially wasting your energy all the while knowing it by making things drag on. Optimizing the order in which you do things helps tremendously, just that ability of not just taking on the right habits but also sequencing in the way that plays the smoothest is a lifesaver in itself.
Another thing I do is I'd always fuck up and genuinely underestimate the time it'd take me to perform a task or to get somewhere; as soon as I noticed that pattern, I just took the amount of time I'd normally be late by on average, round it up (sometimes exaggeratedly) just to be on the safe side and force myself to consider that more realistic number next time instead of always trying to improvise riding things out, even if that meant less comfort (obviously). Once thing I've noticed, I'll always be super early for important or expensive matters (e.g.. flights, work, administration etc.) but regularly late for everything or with most people that I've developed confidence with, I don't like it, and am also always kinda working on it.