Hi J.,
Let me start with I raised one child already and did so with a different form of discipline, in different times. I had very little problem with my day to day requests of her and she is a perfectly good, healthy, strong willed, independent woman...for those who feel spankings are harmful.
As for my 4 year old, she went through a lot of that at 3 and I felt very similar to you. The house was a mess, she made the mess, her mouth was a bit sassy, and she loved TV, but she was up to par with all milestones and above average in the class at school. I found that she was participating in cleaning at school and got along just fine.
So, I think there is a lot to do with the comforts we naturally provide to your children. For instance, the 4 year old would ask for what ever she needed at school without a problem, no problems being shy, but at home, she would ask me to speak for her when it came to a stranger trying to converse with her. She is capable, but I provide her the comfort so she leans on me. I had to think back to how I did it with the older one. If we were out and she wanted another carton of milk, I would hand her the money and tell her to go to the counter and ask for it, hand them the money and they will hand her a carton of milk and some money back. My older one is sooo independent and has no issue with finding the words to say to anyone on her level or up the hierarchy in the work place. She took me to her holiday dinner and I watched her carry on with everyone all the way up to the VP, as if they were "on her level".
I feel if we put something in front of them and they want it, they can have it. It is within their reach and they can get it themselves. They may have to work for it, but they can have it. So your token ideas are perfect. She will understand that the token is her goal to get to what she wants. Just make sure hubby and you are on the same page and it will work.
As for the toys, it is now routine that we don't go upstairs until the toys are picked up. Upstairs, there is a warm shower waiting for her, a glass of n'night milk, a bed time story, and a few minutes of snuggling with whoever read the story to her. A very special and intimate (one on one) time for her. So the routine in it works for my little one, provided she is not too tired, so we start early.
As for talking back, I warn a lot of times with a stern look to me, and then one day I without warning will give a little pop on the mouth and surprise her. Then I tell her she has been warned plenty of times not to talk to me that way and now she knows. That probably only happens once in every 3 months, as she knows my warnings are valid. The pop on the mouth doesn't have to be anything more than a quick tap to startle them. A pop on the bottom does nothing but make her giggle and do it again.
I think this is all a stage in your little ones life, but it seems a good time to create the next level for her and show her how big of a helper she can become when she helps pick up the toys. At four, we have moved on to the organizing stages. There are no more toy boxes here, but containers and shelves for everything to have it's place. I don't think it would have worked sooner.
As well, some nights we come home from school/work and we don't turn on the TV. If she asks I just tell her to grab a pretty picture to color and let me see her work. She is perfectly happy.
Best of luck and be patient.