Advise for parent's of children with sensory issues?

I have 2 yr old twin girls. The youngest of the two has moderate sensory issues. It's really difficult dealing with her because she won't eat certain foods based on how they "feel". Even if she's eaten them before you change even the slightest thing & she will notice. She is really hyperactive. When she plays she will constantly walk. She won't stop even if you sit her down to drink anything. She will get up to walk with it in her hand. I don't want to take her places with me because she can't sit still or be quiet for long periods of time. She is also slower learning because her attention span is so short. I have to tell her the same things over & over again. Even though that is normal for two year olds learning their boundaries. It's especially difficult with her. Anything new presented to her is a battle to try when it comes to food. If she goes to a dr visit if she feels she had a traumatic experience she will automatically cry & cling to me. Like a dental check-up. (IE- She had a dental check-up & it traumatized her. All her sisters went with her & they were fine. After that for about a month she would get terrified going anywhere she didn't know or didn't visit a lot & cling to me & only me for dear life. She wouldn't even go to her dad.) I love her & we have a physical therapist who is helpful with certain things. But I'm having a hard time with her because I don't know what to do. I try to be more patient with her. It's really hard to deal with her. I love her but I don't like her. It hurts me to say that. I really want to have a good relationship with her. But I don't know how to do that with someone I can't hug because she can't still long enough to. She doesn't even know how to give kisses. I showed her how (I really thought it would be a piece of cake), but she had a hard time with it. She even has a hard time doing simple things like sticking out her tongue. She loves chicken nuggets but if I change the brand she won't eat it. I just don't know what to do. She gets really attachted to certain things. So when I try to take it from her to show her something new she cries bloody murder. I don't know what to do.