The goal is to get your child listening to instructions without arguments. Sanctions need to be immediate, predictable, fair and consistent or he will get confused and you will come across as ineffectual.
You have a family meeting. You explain that if he doesn't do as he is told the first time you ask him to do something, he will be on a one. The second time he does not do as he is told, he will be on a two. The third time, that's a three and he goes to his room for one minute every year of his age, so four minutes. He can do what he likes in there, but it's for four minutes. He will understand this. He might not like it, but he will understand it.
You have to be slightly mean and stand outside his room and possibly even hold the door handle for this to work, if he's an habitual escapee. But in return you need to keep to the four minutes to the absolute second. And be completely consistent. No second chances on any of the counts, no long gaps between the counts, only apply them to the behaviour of a reasonable time frame, which at that age is only about 10-20 minutes. This is within what a child can control.
After a few times he will realise you mean business, he will understand what the rules are, and he will start to listen to instructions and do as he is told. You will have sufficient authority.
You will find after a few weeks you rarely get past a one. And you both get on a lot better. And he starts to understand why adults have rules and expectations for things.
He might argue, if he does, you put him on the next number up. He might trash his room, in which case you tell him quietly when he comes out that it's a shame his nice room is a mess, and if he comes and asks you nicely later you might help him tidy it up, otherwise he will have to put up with it being trashed and not being able to find his toys. Otherwise, just let him learn you mean business and he is expected to follow any reasonable instruction you give him.
I usually couple this training with telling kids that if somebody is telling them to do something unsafe or really strange they have the right to think it through and tell another adult. You don't want unthinking compliance, this is about parental authority on the things that matter.
It also works in cars, by the way, except here you pull over, stop the car, and all sit still for the required minutes. You point out that every time you have to so this, the journey will get longer and longer. They soon learn.
None of this is particularly easy for the parents, it takes work, but once you've done it you save a lot of energy and angst that you are probably currently spending on the daily fights and battles.