Hey guys aside from all of the great ideas that have been shared thus far I just wanted to throw in a few more ideas.
I run the beginning of all of my classes like clock work... 12-15 minutes cardio followed by 5-10 minutes of dedicated GROUP stretching. I lead and run through the following stretches single leg ham stretch L/R, Crazy knee stretch L/R, split/ham stretch to center, lotus, split/ham stretch to center again. Triangle stretch L/R, Plow w/ half lotus L/R, S-mount stretch L/R,
rubber guard/heal hook stretch, legs together toe touch, cat stretch, cat/cow... Thats it. I believe the key is warm up and consistency. I personally do the same stretch routine AFTER class as well. On Monday, Wed and Friday I also do Yoga and Stand-up before 10th Planet so I get 3x as much on those days
I stretch alot...

Add in some stretches before bed (a requirement for me) and upon waking up and you'll make it there in no time