So I started to program my mind to wake up before the alarm. For example, before I went to sleep, I would tell myself, "I want to wake up at 6:00 am." I would then wake up naturally, and on my own at 6:00, before the alarm clock.
I did this every night and soon discovered I didn't even need to set the alarm clock as I would naturally wake up at whatever time I told my mind to wake up.
With this process of awaking naturally, I have been able to have that smooth transition between the sleep state and the waking state. Mornings no longer have that drama that comes from suddenly being disturbed. It also has allowed me to more easily recall my dreams.