Paper bags or storage boxes, descriptive labels, written with: "Things with wheels" "People" "Animals"
When it is time to clean up, ask your child to put toys in the appropriate containers. Talk about the properties of each item. “Does a cow have wheels? No. . what needs to go in this bag? What is different about these toys? Here is another car, where does it go?”
This is more fun and novel if you use bags that are not the normal storage container.