Hi mija,
Boy, you sure do have your hands full! Two girls that are 3 and 5 are guaranteed to drain you mentally! My suggestion for you would be to surprise your two girls when they're getting on your last nerve and just say, "Ok, we're going outside -- NOW!" and then go out and run and play and laugh with them! Tensions will ease and you may find that their behavior isn't 'bad', just that you're getting a double-dose with two of them!
Sometimes, we as parents, let the stress of clutter (or whatever) get to us and we expect the little ones to be as bothered by it as we are. They aren't and shouldn't be! Yes, they should learn to pick up and mind, etc. But maybe, just maybe, they're just being exuberant, lively, young kids! Too many parents want their kids to be miniature adults! And getting them to help can be a lot of fun if you make it a game! They can help fold towels, put clothes away, etc. Ok, so they won't do it perfectly -- but they'll be thrilled to know that they 'helped'....
Though I'm not a big fan of McDonald's, most do have an outside playground where mom's can sit and watch the little ones run and burn off all that excess energy! Just three drinks can be a cheap outing.
IMHO, it doesn't sound like they're in control. It just sounds to me like you're the mother of two young girls! That would wear anyone out!
God bless!