All four of your examples are grammatical, but none are idiomatic.
"Daily: 1a : occurring, made, or acted upon every day //daily needs"
is not ordinarily a precise term - that is, while it specifies once per day, it is not ordinarily used to specify exactly when during the day the event occurs.
As an example, you might well say the "The sun rises daily", but if you live in temperate latitudes you're aware that the exact time of sunrise varies wildly during the year. For more exact instances, daily can be used, but with a modifying phrase: "The mail was delivered daily, at exactly 3 o'clock."
So, combining an inexact term like "daily" with a much more restrictive phrase like "on time" is jarring. Instead, you might try something like,
A. She used to arrive on time every day/regularly.
B. She used to reach there every day well-prepared.
Although B is still somewhat clumsy.
Also note that "in a well-prepared manner" is a very clumsy phrase.