key

Ghost Keyer 2 will allow you to key objects without having to select them. You can create custom groups of objects that will be keyed together. 

This is a simple little floater that allows you to store and recal frames in time. By default it sets markers at 10% intervals across the timeline. Shift+Click to memorize a frame number.

http://www.jonahhawk.com/scripts/StoreFrameMarkers.flv 

Need to key only the X position, or the Z rotation? This is a very basic script that pops up a little window having position X, Y and Z buttons individually, and the same for rotation. I left scale out of this since you'd have to assign a new controller for that to happen individually.