1. I agree with BoulderBoy in that you should always try for the maximum contribution towards your retirement (IRA). Try to put $5500/year into that from both of you. Does either of your work offer a 401k/403b and matching? Contribute up to the match first before the IRA, as that's "free" money.
2. Since your highest interest rate you owe is on your student loans at 6.7%, and it's also the smallest amount you owe, I would contribute the minimum to your mortgage ($1870) and move that extra $130 + anything else you can do towards the higher interest student loan. Once that's paid off, the extra money you'll have from your car loan amount + the $130 + anything else, you can put that towards the next debt. You could even split that payment, once you've paid off the student loan, and put half towards your car loan or mortgage, and the other half towards building your emergency fund more (see #3). You wont even notice the monthly difference if you do that right away.
3. I'd try and get your emergency fund up closer to $10K within the next few years. If it's a Roth IRA you're contributing to, you can always pull out the principal, but keep in mind that's a last resort as you cannot replace past contributions once you do that.
4. Do the math, but your PMI may be just as much as your interest rate, meaning the actual value of paying your house down 20% may make it more beneficial to do that before paying off the student loan. I know when I just got my mortgage, if I paid it down to 20% after the financing the PMI wouldn't go away for 2 years after close. So, depending on your mortgage, you may have 2 years of paying your PMI even if you do pay it down right away... but I suppose that may be why you're considering a refi.
5. If it's more of a want, and less of a need, I'd hold off on the bathroom and especially finishing the basement. And if you do still want to do that, make sure you do #1-3. You should sit down and budget and save up for home improvement options, especially when they're not needed (such an emergency hot-water heater, roof, etc). If you're on the fence between what one to do, a nicer bathroom will increase the value of your home more than a finished basement. I suppose the remodeling more depends on you, and how long you're planning on living in that house. As long as you're still living there, that money you're investing into it isn't liquid.