J.,
First, I would not do everything for her. Let her help you with some things. Cleaning up her toys, pulling the covers back on her bed, help putting her clothes on, getting her shoes or getting the juice bottle from the fridge if it isn't too heavy. I did almost everything for my oldest son and when he started kindergarten, the teacher made a comment to me about how dependent he was when he first started school. We worked on things and now it is amazing to me all he can do. I have my 4 year old do a lot more at his age than his brother did and it helps to make him feel like a big boy.
Second, what do you mean by you "tried to set down your ground rules with them"? You have to set boundaries and your parents and you both have to stick to them. If you give warnings and then don't follow through, she is going to know that and your warnings will be worthless. It takes a long time to break a bad habit or to start a good one and a very short time to break all the good habits down.
What do you do when she disrespects you? Do you take something away? Give her a time out? Do you lose your temper? That is a big thing. I have a friend who constantly tells me she doesn't know how I have so much patience with my sons. I don't raise my voice unless I have to. I want them to listen to me because that is what is important to them and not because mommy reached a certain decibal. It starts early. What you are doing now sets the ground rules for her behavior and respect for you as she gets older.
Set your boundaries and make sure everyone involved in her care especially you sticks to them. If my children ask for something without using manners, they are told "nobody in this house responds to that". They know that means they have to say it again using their manners and they can't just throw a "please" out there. They have to say the whole thing because we want them to remember how it sounds to say it correctly with manners.
I wish you the best and if you ever want to email me, feel free.