M.G.
Some kids' personalities are more like this - they challenge, and it's not always a bad thing - just in cases like this as you say. We have a little gal who comes to visit and she has an issue (her teachers have noted it, but she's never been diagnosed with anything as of yet). She does this with her mom. It's just a habit they fell into - long ago, and she thinks it's the way it goes.
I do the warning thing with her - I start 15 minutes out. It works.
I am also wondering - do you ever follow through with the threatening? We find that works - so "If I have to ask you twice to come down to get in the car, then next time we won't go" and we don't. We take the rest of the kids and that kid stays behind. When they were too young to stay home alone, one of us would stay home. We only needed to do that once typically - message delivered.
One thing that helps at that age too is I remind them that I have my own stuff to do too - that I'm not going to chase them, that it's not kind to me, etc. essentially - that you're a person just like anyone else. Would they keep a friend waiting? Would they keep their teacher waiting? (or as you say, Dad?). Mine are better behaved if they realize that they are tiring mom out and mom is already tired out after a long day, type thing. So I throw that in sometimes (sometimes it works ... not foolproof!).