If our family had to do it all over again, I would let my kids take their lumps as kids and not bail them out in an attempt to "rescue" them. If the homework was left on the table, then it should be marked as late. I would no longer rush it to school.
Consequences when you're a kid are hard and bring tears, and kids think you're mean and don't love them. Consequences as an adult also often bring tears, but they can also bring unemployment, repossession of goods and more. Which is easier to bear?
As a parent, we have to take the time to teach and train our children. The tears are the glue that makes those lessons stick!