My DD is 4 next week and has similar problems. The main one is that K is T. Her speech used to be much worse, but it is improving, she seems to go in fits and starts, no change for ages then suddenly seems much clearer. She does get frustrated at times when she's not being understood. We're well tuned into her though so rarely have problems now.
I haven't seen a speech therapist about my DD, because I'm actually a speech therapy assistant. I work with adults with learning disabilities though so have no experience of doing speech sound work. I do pick people's brains though and ask advice about my DD and the general consensus is "don't worry, it'll come," and it is doing.
I was the same... in fact the sounds I struggled with were the same ones as your DD.... I did have speech therapy, but only one session as they said it would come in time and it did within about 6 months. (I was just 4 when i saw the speech therapist.) Some children grasp speech sounds straight away, others take a bit longer. The sounds your daughter is struggling with are the most common ones to have delays on.
It might be worth speaking to your GP, especially as your daughter has had a stutter (although this is often because they've got so much to say and their brains are quicker than their mouths.) It can take a long time for a speech therapy assessment to come through so your daughter may be fine by the time the appointment comes through, or she may still be struggling.
Try not to worry too much. Repeat words back to your daughter correctly, but don't make a big issue of it or put any pressure on her.