No, you don't get "on attack" triggers for creatures that enter the battlefield "tapped and attacking".
The reason is that being declared as an attacker is a single event that happens only once per combat, at the end of the "declare attackers" step of the combat phase. It's the event that triggers Kaalia of the Vast's ability in the first place, so by the time a creature is put on the battlefield as a result of Kaalia's ability, that point has already passed and cannot trigger the ability of Aurelia or Tyrant's Familiar.
- Declare Attackers Step
508.1. First, the active player declares attackers. [..]
508.1m Any abilities that trigger on attackers being declared trigger.
508.1m is when Kaalia's ability triggers. It goes on the stack afterwards:
508.2. Second, the active player gets priority. (See rule 116, "Timing and Priority.")
508.2a Abilities that trigger on a creature attacking trigger only at the point the creature is declared as an attacker.
508.2b Any abilities that triggered on attackers being declared or that triggered during the process described in rules 508.1 are put onto the stack before the active player gets priority; the order in which they triggered doesn't matter.
Kaalia's ability goes on the stack now, eventually resolves, and a creature is put on the battlefield tapped and attacking. That creature never sees the end of the "declare attackers" step described in 508.1m and therefore does not trigger its own "on attack" ability.