I never feel well rested when I wake up

In my entire life, I can't recall ever waking up feeling "ready to start the day," and it's terrible. Despite my best efforts to improve my sleep hygiene, establish a nightly routine, meditate, and adjust my sleep pattern, I still wake up wanting to roll over and spend a few minutes in bed again. It's really annoying. Getting out of bed at the last minute has affected my ability to arrive to work on time as an adult, frustrating family on vacation, and being chronically late to school as a child. This has been a recurring theme throughout my life.

I'm fine after I get out of bed, take my medication, and have a cup of coffee, but the only other individuals I've spoken to who have the same problem were seriously depressed, which I'm quite certain I don't have.

Is there anyone else experiencing this problem? I have tried taking my medications an hour before I should get out of bed, but they have little effect and even help my sleep last longer if I use the snooze button.