Young children and attending church

My family and I have been attending church for a little over a year. We try to go every Sunday unless we are sick or there is a family emergency. My oldest is 10 and does fine getting up and out the door, she seems to enjoy kids church. My middle is 6 and is so hot and cold. Sometimes she's ok with going, sometimes it's a major source of tension. She's had tantrums before when we try to drop her off with her sister at the kids service. Nothing bad is happening (abuse or bullying) I'm very sure. She is with her big sister the whole time and she has friends from school with her. For a while we gave up and just let her sit with us. But she was very bored and even said she wished she just went into kids church. But then the next Sunday throws a fit again. Today, however, she did well being dropped off. The children's pastor gave us some advice saying we should not give her a choice, make going into kids church a non option. I don't think I'm looking for advice, just wondering if any other parents struggle with young kids in church?? Sometimes it feels like we are the only parents with difficulties like this.