So I learned some pyqt and voila, here's cdSnap. It should handle most of your ikfk snapping/space switching/rotation order snapping needs. I really like how it can bake keys in multiple ways depending on your needs. Let me know if it works or doesn't work for you!
You'll first want to install pyqt, I recommend Nathan Horne's site to download his installers for windows.
Second, either run it the script in the python script editor or type after installing it your maya scripts directory:
cdSnap = cdSnapUI.cdSnapUI()