Getting 4 yr old to listen without an explanation

My LO will be 4 soon. She is fairly strong willed but we deal with it ok and she listens pretty well overall. She has always done better with the explanation of things and understanding the why of why she needs to listen but lately she is questioning things all the time which is more effort to get her to do things but whatever it’s the phase and she’s learning. My concern is when I need her to listen faster like for safety but I don’t want to scare her in those moments either. If I try to get her to do anything fast and she doesn’t understand why she tends to dig her heels in and fight me on it. The other day there was a sketchy guy in our neighborhood and I needed her to get moving towards home and she started fighting me about it. I didn’t want to draw this guys attention to us but also didn’t want to scare her since I want her to feel safe in our neighborhood and I have no idea if this guy was actually up to no good. Today there was a wasp flying by her while we were trying to get inside and i didn’t want it to fly in the house or on the baby so I was trying to hurry her inside and she is just digging her heels in. It is beyond frustrating and I feel like screaming at her to just listen and move it now!!!!!! (I don’t actually do it). We have talks about it but it doesn’t change things and since it’s not happening all the time it’s hard to create some sort of habit. If it were truly an emergency I’d tell her we weren’t safe but when it’s an in between moment I’m not sure what to do. Anyone have any advice for these moments?