Shoes on, walking out the door

It's the last 30 seconds before you leave and they're melting on the floor.

Try saying

“I know. Leaving is hard.” Melting at the front door, late for school
“Shoes first. Talking after.” Melting at the front door, late for school
“Pick the door or pick my hand.” Melting at the front door, late for school

For each age

Preschool (3–5)

“I know. Leaving is hard.”
“Shoes first. Talking after.”
“Pick the door or pick my hand.”

Keep your keys in your hand. Holding them signals motion without urgency. Putting them down signals the negotiation is open.

Toddler (1–3)

“Shoes on. I'll help.”
“Big feelings, then we go.”
“We can talk in the car.”

Sit on the floor with them. Sitting reduces the power asymmetry, and the shoe goes on faster from the floor than from above.