When we were travelling through the USA we definitely had instances of dd putting her foot down and not wanting to come with us. The only thing that worked was to emphasize the fact we knew she didnt want to go but we were a team, and we had to work together. I also say things like 'mummy keeps you safe so you need to stay with me' and 'mummy helps you when you want a drink/go to the toilet/need something to eat, so you need to help mummy and come when I ask'.

I think picking up a child and physically removing them is perfectly reasonable if they have ignored all requests.

It is obviously different as the child gets older though because physically handling a six year old is different.

Hope you don't mind this thread turning into a discussion, because clearly it is a complex thing.