At my wits end with my 5 year old

I want to start by saying I have the kindest, most sensitive 5 year old ever. He cuddles with me every chance he gets, he doesn't have a mean bone in his body but he is the absolute worst in the mornings. It's a fight every single morning to get dressed, he will sit and cry because he needs my "help" putting his pants on. It literally boils my blood. Then it carries on to day care (he's been at this in home daycare since he was 9 months we're very close to the family) I'm getting him and his brother out of the car and he wants to be carried in...but I tell him no that he needs to walk and low and behold he's in a full on tantrum. We get inside and he just hangs on me to the point my friend has to hold him so I can leave. I've tried talking rationally and explaining what's expected but we always resort back to mornings from hell and idk what to do anymore.