Biggest one was handling when it's time to do something. Take a bath, go to bed, turn off the TV, get ready to go: I always give a five minute warning. I tell them we're *about *to do something before it's time, and just that small difference makes everything so much easier.
So instead of marching into the living room and declaring bed time, I'll say "Hey guys, wrap it up, bedtime in about five." They can finish what they're doing, known not to start another youtube video or whatever, and everything goes way smoother.
Also, when they're really little, don't give them open ended choices. If you ask "What shirt do you want today" you'll be there for ages. Pull out two that are weather appropriate and say "do you want this one, or this one". Works a treat.
Both of those tips help give kids a sense of agency, which I think is important, while still getting the practical things done.