I don't have good specific advice, but please find a way to stop being irritated at her. I guarantee you that she feels your irritation with her, and much of her behavior is driven by the fact that, on some level, mommy doesn't like her as much.
When your kids are basically grown, and you stand where I am, you will so regret your inability to control these feelings. Take my word for this -- 3-1/2 is so very, very young, just a baby really, even though she looks much bigger than your 2 year old. And when you watch those videos of her sweet little voice years from now, your heart will break.
My main suggestion is -- RELAX. Sticky hair DOES NOT MATTER. Most things she does that bug you DO NOT MATTER. Having socks on or not DOES NOT MATTER. Try letting go of most of what she does for a few days, and see what happens. Stop fighting the battles with her. She won't die with sticky hair and no socks; she will grow into the person she was meant to be regardless of how you try to improve her; and you want memories of warm times with her, and a close relationship, not the opposite.
I think going to the bedroom for a minute is a good idea. And I'm glad you don't yell. Now just convince yourself that, "Don't sweat the small stuff, and IT'S ALL SMALL STUFF," and you will have a happy life with your daughter.
Life is so, so short. And we stress ourselves out over nothing.