Life hack: On the 10th of every month I pre-portion out a month's worth of toothpaste and freeze the individual single-use portions in those special containers they sell (they're cheap - a year's worth only runs about $250). I do this in my surgically clean kitchen while wearing gloves and a mask and only from a freshly opened tube of toothpaste that I've washed carefully.
Then each morning, after I make coffee and switch on the coffee maker and I'm about to get the creamer out of the fridge, I grab the next day's toothpaste from the freezer and set it out on the counter to thaw. When I get home from work, after taking off my shoes and hanging up my keys, I grab the toothpaste and carry it upstairs to the bathroom before washing my face.
With just a little pre-planning, and by robotically going through these simple, nearly reflexive steps every day, I have one less thing to worry about. It greatly simplifies my life, believe me.
Weekends require a slightly different sequence of tasks to realize this simplicity, but after a couple of years, I have that down pat, too.