been there done that on all of this. We all feel bad when we realize we've been treating kids as if "they won't" as opposed to "they can't".
What I'd suggest doing is making an appointment with your pediatrician and ask for a referral to a pediatric occupational therapist. You could also go through the school district but since it's impacting her at home as well, you need to cover the homefront. On the clothes front, find something that works for her and buy multiples: at one point we had 6 pairs of the same style shorts, same style shirts, and all socks were exactly the same.
What is comfortable to her for sleeping?
You can learn to help her with this. For now I'd suggest starting to keep a log to record patterns of her reactions to sensory stimuli: how does she respond to textures, pressure, motion, water, temperature, sound, lights, foods, odors, etc. What aggitates her and what makes her feel better/calmer.
Does she attend a private or public school?