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There is a straightforward, but not always simple for everyone, solution.

Communication.

If you’re always going to be late then either communicate a realistic time frame (eg, could be there between 1 and 3pm depending on how difficult the kids/traffic/knee pain etc is today)

You may not intend to but if you’re constantly late then you are disrespecting the other parties time and that’s not ok. Let them know what’s going on, let them make other choices, don’t tie them to a commitment you agreed to but can’t keep. Communication is key.

You’re allowed to be late, just set proper expectations and give people their time back.