Hi. Your girls are gorgeous!
Not too much advice on the routine thing - Sorry.
But I am going through the same with my 3 year old. She's just starting to test the boundaries. ie she will throw something on the floor & when told to pick it up will tell me she can't til I threaten a smack on the bum. She'll usually do it before she gets the smack, but not all the time.
& even though she knows she is in trouble she has a smile on her face, or she will look at me while doing something waiting for my reaction.
I think it might just be their age. They are realising they can get a reaction out of you, so they push to see how far they can go.
Maybe routine will make things better for you. I hope so!

Good luck anyway. I know I didn't help, but at least you know your not the only one.