When we were kids, my sister and I both had significant issues getting to school on time. Turns out we both have autism, the symptoms of which can include issues surrounding time management and/or planning. If this is a one-off thing, well, we all have those days where you just physically can’t drag yourself out of bed, I think. But if it is a recurring issue, then OP should definitely try to work out the root cause of this and see if together they can work out a strategy/coping mechanism to minimize the impact this has.

I'm curious how exactly you would "make" her get in the car dressed in her PJs. This sounds like it could go either way. The royal embarrassment of being seen by her friends and classmates in her PJs would motivate her to get her rear in gear. That said, if she shows up at school that way, be prepared to do some explaining to school admins. They could make her go home and not return until she has changed her clothes (more time out of your schedule). Or she may have to take an absence (her responsibility to make it up). Then you would have to leave work early to get her (again, more time out of your schedule). Yes, she may have brought this on herself. But you chose to send her in dressed inappropriately to try to get yourself to work on time. Pick your battles wisely.