A.P.
My nephew has pretty severe sensory issues and they have a rough time with him, he does a lot of similar things you described as well as being disruptive and violent at times (he is about 5 now).
Basically, remaining firm and consistant in your expectations and disciplines, even voiced (yelling/spanking won't help at all), very structured activities, a low stress environment with soft sounds/lighting, free flowing furniture placement, easy and simple clothing... are things that they try to maintain, though it can be rough!
The best form of discipline at her age is redirecting. When she gets into something, take that thing away from her and redirect her to something she can do.
When you put her in time out, if she gets up, put her back, keep doing this until she stays in time out for the duration of the time (which is recommended be only one minute per age of the child, so she should get a 3 minute time out).
Since she thrives on structure and independance, instead of turning the tv on in the morning, let her be the one to turn it on first for the morning movie, and instead of putting in the trash bag, when it's time to change the bag, call to her and tell her it's her time to put the trash bag in. This can help her feel some control over her environment, independance and value, and it will be less stressful than fighting with her.
For brushing her hair/changing diaper, maybe you can get some sort of activity self contained puzzle she can hold during those times, to help keep her occupied.
Maybe doing a little activity with her, spinning in a circle, ring around the rosie, jumping jacks, throwing bean bags in a basket, rolling a ball toward plastic bowling pins... those quick little games can help her calm down and focus her energy before you try and attempt to do something that usually upsets her, like brushing her teeth.
Sensory kids tend to be intelligent, energetic and creative ones from what I have noticed. Do a lot of research, it seems to be a fairly new thing and not all drs/pedis are aware of the issues.
You really need an occupational therapist to help you at this point.
Once you learn the techniques that work for her, you can adapt them to other areas. Remeber this when you are at your wits end, "“Another tip-off to SID is if behavioral strategies fail to work with the child. This is not a behavioral problem; it’s a physiological problem occurring in the brain." - Diana Britt, an Arlington occupational therapist at Therapeutic Life Skills clinic
Best of luck!
basic sensory disorder symptoms:
http://www.essortment.com/all/sensorydisorder_rhky.htm
some helpful ideas:
http://www.fortworthchild.com/showarticle.asp?artid=394
http://www.buzzle.com/articles/making-sense-of-sensory-in...
http://www.sensory-processing-disorder.com/