I can imagine 2 and 4 being difficult in terms of controlling behaviour. When I had 2/3 or 3/4 year olds (there's a 14 month age gap), bedtime needed 2 adults. Usually DH was home from work but on days I knew he'd be late, I'd try to get my mum round to help.
So I appreciate how hard it can be if doing it on your own. Is your DP around to help at all? Could you change their daytime routines so that bedtime is at a time your partner is home?
I can't bear chaos, the teacher in me needs organised structure. So I am quite strict with things like running off and not getting dressed when asked.
Stories though - much better that the time is spent animating a story than running after a naked child with a towel. There is an element of behaviour expectations though. While we might add in different voices or spot things in the pictures, this is not a procrastination tactic. The story is there to be read and you lose the actual story line and flow if you don't read at a reasonable pace. So delaying tactics reduce the enjoyment of books.
If the children like talking rather than reading, why not change to suit that? The You Choose books are not about reading, they are about encouraging discussion.
Or read factual non-fiction books instead of stories. Just open at a random page, look at pictures, read a few paragraphs and have a chat about the subject matter. My eldest sons choice of bedtime story was always this type of thing.