Kindle, as an afterthought, I see you are based in Norfolk?? Is that where you’re coming from??
To be honest, mate, I would leave half an hour earlier (about 4am) … down the M11 to the bottom, turn onto the North Circular eastwards down to the A13. Then onto the A13 heading into London but go through the Limehouse Link and along the Highway to the end. Past the Tower of London and onto Victoria Embankment to the end and turn right and then left past the Houses of Parliament. Along Millbank and follow the river for about 4 mile till you hit Chelsea Embankment. Only worth going this way if you are scooting through before 7am cos of A) congestion charge and B) traffic