I think my philosophy is also very much one of picking my battles, which surprised me at first, as I had always imagined I would be strict.
DS (2.5) has breakfast at 'his' coffee table because he is happier that way. Other meals he has to at least sit at the table properly with whoever else is around. For this reason I still have straps on the high chair, and if he is playing up I strap him in and ignore him. It takes no time at all for him to get over it, then he eats normally, we chat etc.
If we have to do something, I try to explain why. Teeth are non negotiable. Like pp, I can absolutely understand that having a brush forced into your mouth is horrible, but on the days that 'ooh, a bit of broccoli' isn't working, that's just tough.
I have a zero tolerance position on violence.
With things that don't matter, as advised by MN, I try and give him a choice. As long as he is wearing appropriate clothes and shoes, I don't really care which ones they are. If he wants to play with stupid amounts of toys at once, he can but he must then tidy up with me.
If he won't go in the pushchair, he has to run to keep up if we are in a hurry.
If he is being unusually clingy at bedtime, I stay with him til he falls asleep. Invariably he gets in with me at some point during the night anyway. It is pretty uncomfortable sleeping with a very active windmill toddler, but he won't be doing it for ever, and I like to think that it shows he still needs me sometimes, even if during the day it is all 'I do it myself' 
When we are travelling long distance, I am prepared to let a lot more go than usual, so constant snacks, iPad, bribery, dummy during the day and so on, the priority being arriving in one piece without having caused upset to other travellers.
everything in moderation!