Now my brothers are denying us (me and my sister) a right on all three properties stating that these would be ancestral property and hence as married daughters we have no right on these.
Your brothers are wrong to say that you sisters do not have right in the properties that were in your father's name who died intestate, you have a legitimate share in the property.
1) All three properties would be considered ancestral property or the house purchased by my father would be considered self-acquired
A share of your grandfather's self acquired property inherited by your father shall not be an ancestral property to you or your brothers, it shall be your father's own property along with his self acquired properties.
2) Would the daughters have equal share in any of these properties
Yes the daughters have equal share in the said properties to that of the sons.
3) Can these properties be sold or transferred without the daughters' consent
No it wold be considered as an illegal act, the daughters can take an injunction against it.
4) If we have a right on property, please advise how can we proceed to stake claim
You can file a partition suit and claim an equal share in the property.