Sassy 5 y/o

My daughter turned 5 back in June. Just from looking at her or being around her for a little while you wouldn’t think that she is unregulated emotionally. She has sensory issues and everyone has their own opinion on how I should handle her. She’s a great kid. Super smart and hilarious if you let her talk long enough. When she was 1, she was in my arms when her father physically assaulted me so I was advised to treat her as if she was hit as well. It took a while but the coddling went on for about a year, with approval of doctors and a caseworker she had at the time.

Now I’m trying to teach her boundaries and it is a struggle. More so now that I am almost due with baby #2.

Any suggestions on what I should do?