@darthklim I'm SAHM and have two kids, 2 and 5.
We used to do bath time at night but realized it wasn't working for us so we changed it. It's pretty crazy, but hear me out.
My oldest goes to kindergarten from 8:30 till 2. I pick oldest up with the youngest. When we get home, they go straight for the bath, both of them.
Now our bedtime routine is brushing teeth starting at around 6:30, first potty, putting on pj's, song, cuddles, etc. and I'm closing the bedroom door at 7:10~20. At around 7:45~8, oldest asks for potty/snack/any other excuse their Machiavelli mind can come up with. Oldest is allowed potty and water or I don't open the safety gate to their room. It took a while for this to work. Starting when oldest was about 3. Now, at 5, oldest still asks for things, but I think it's more on principle because they never get it and they don't throw a tantrum anymore. The key is consistency and sitting down on the floor next to the safety gate with your phone very pointedly ignoring the screams. When they saw (after about 8 f-ing months) that screaming didn't do anything, they began negotiating. That took about another few months. Now, they ask for X, Y or Z, I say no, they say fine, they ask for potty, they go and go back to their room and even closes the door themselves.
I'm not saying this is for you, but taking one of the tasks away from the routine might reduce the time.
I would also recommend talking with your partner about agreeing on a single parenting strategy and applying it together. You both have to be doing the same thing if you want the routine to move more smoothly.