I've got a dd tge same age so totally understand where you are. Her night problems started when my dad passed away, can you trace hers back to anything or has she always been like it? I have foucsed on repetition and pistons reinforcement. Sounds quite good like that but basically her night tine routine is now very short as her problem is tgat the longer we are there tge less likely she would let us leave. It's strictly tge same everynight. Teeth, wash, toilet, pjs, into bed goodnight. I always try to have axreally positive convo, what has she enjoyed today type stuff, what made me proud. Then how nummy would like her to stay in bed and have a nice long sleep no waking up. Sounds silly but when also followed through in the morning with telling her thank you and I am proud of her, even my mum will ask her if she slept through and she loves to be able to say yes. If she didn't j will ask her the next day why not, what caused her to get up? I don't count getting up for tge toilet as not sleeping through iyswim.
I do find so much of 'naughtiness' is linked to being tired. Add in nursery to getting up in tge night/waking early and it's no wonder they are shattered.
You say reward charts didn't work? How long did she have to 'work' to get a reward? If it were all week, maybe change to a day or two or even for something that same day. Just start getting her to a place where there is some positive things going on and build in it.
I find it helps to double check your definition of being naughty as well, is it being curious and not realising what would happen? Is some of it just being three? Choose your battles is often quoted on here but I know tgat once she has done something if it is not addressed it will happen again, it's like she's got permission.
Not sure if anything I've said is actually useful, probably doing all that. I do and hey she's not perfect but dh and I did take her to soft play and then for lunch yesterday without a single issue. Hang on did we take our daughter maybe I'm in for a bad day tomorrow 