D.W.
The minimum for a booster is at least 40lbs. And that is just the minimum. Your daughter isn't there. She's still on the small side to go with booster. And she needs to be big enough that she fits properly in a high back booster. My son was on the smaller side and we just got him a Britax high back booster for dad's car at age 6 and even now I have to remind him to sit properly in it.
If this seat:
http://www.britaxusa.com/car-seats/frontier-85
had been available when I was getting a seat for my then 4 year old it's the one I would have gone with. The seat he is in now will keep him in a 5 point harness to 80lbs and 53 inches. The great thing about the seat above is once your daughter out grows the harness part it will carry her for a long time booster wise.