Hey!
Not sure if this will make you feel better or not but your not alone. I have a 3 yr old son and i have had all of these issues / still do have some of these issues from bedtimes to meal time.
Son is terrified of the whole bath in general , he thinks himself and his sister are going to get dragged down the plug hole, I was suggested to put toys in the bath, though that didn't work for me personally, doesn't mean it will not work for you. He has a favourite teddy and I often bathe 'Munchkin' and towel dry him first to show son that all is ok. I have found that letting have his hair blow dryed on a low setting is fun for him, he see's it as a reward (obviously I hold it at a safe distance, he doesn't.
I know some people said bribary , each to their own didn't work for me lol... hit me in the face it did, I use reward charts, If he behaves (does what he is told, could be washed his hair) and he gets a sticker when he does certain things, after a certain amount of stickers they get a reward of your choosing, I find it motivates him alot.
It is hard not to be the 'mean mommy' we are only human and sometimes going to loose our cool don't dwell on it everyone has those 'moments' or even 'days'
Teeth time:
'I brush, You rinse' I let him show me which is 'his' tooth paste and which is 'his toothbrush' I brush his teeth and I let him rinse them, it's so exciting just for him to have that little bit of independance.
Time to get dresed:
We play '1 or 2?' Pants, trousers, tops / dresses (for daughter not son hehe), socks, (sometimes shoes depending on weather) . I pick two weather appropriate outfits and then let him pick which one he wants to wear (pants number 1 or pants number 2?) He feels more independant then and I have noticed less tantrums because he feels more trusted and respected.
Park:
I was advised (which worked for me, again each to their own) to give them a five minute warning, then 2 minutes and then 1 minute, I also say things like 'last time on the slide then' and then instead of telling him we have to go (though sometimes it has to happen I need to be stern and tell him its time to go) the majority of the time I can say things like 'Let's go home and feed the fish / wash up / cook / go shoping etc.
Eating:
Do you let her feed herself? ,My son loves picking his own fork and helping lay the table, he also helps cook (washing mushrooms, helping shred chicken with hands etc) helps him feel involved and want to try out his new food (doesn't always work :D ) Also need to seperate everything so he can eat exactly what he is eating.
Hope this helps x