Android phone security for the paranoid

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Well, I drank the Kool-aid and bought an Android phone (Samsung Galaxy S4). I've now handed over all the details of my life to Google; privacy is a thing of the past.

It burns my butt that all of those applications require access to the camera and microphone. Why would it need a microphone to browse the Internet? So most of these apps, which can't even be uninstalled, can listen to my bedroom at night or follow me around. I don't care if they are doing it with bad intentions, with good intentions, or not at all: the fact that they can is annoying to me.

With that rant over, is there a way to change or install something so that I have more detailed control over which apps can access the camera, contacts, accounts (why should I give access to all my logins and passwords in exchange for finding good fried chicken wherever I am)? Either limit which ones can actually access these devices or prompt me each time? Any way to get rid of the umpty-seven trash apps that came with it?

I am pretty ignorant in the world of Android. I am aware of rooting and jailbreaking, but only barely. I also know that at least one of those acts makes it impossible to download and update to the next version of Android when it comes out. I would prefer to avoid that.

So please guide this nearly clueless newbie. I understand computers well, but this particular ecosytem is entirely new to me. Well, I have an Android tablet, but it doesn't have cellular data, and I put tape over the camera and microphone.
 
Solution
No, you can absolutely go back to the stock ROM.

Just like a PCs BIOS, there's a basic input/output system on smart phones, called the HBOOT menu. This menu allows you command line access to debugging utilities. It also allows you to revert to the factory ROM installation in cases where the OS gets corrupted or the phone stops working altogether due to a software bug.

Hackers/modders/rooters take advantage of this, and flash a custom HBOOT which allows the flashing of any ROM, stock or otherwise. The stock ROM can always be re-installed through the HBOOT menu if you ever needed to send the phone in for physical repairs after installing your own Android version.

There are apps that allow you to restrict access to certain resources...
I got it over the weekend. Needed a more recent version of saferoot, since MK2 comes after MF3 (who knew it was alphabetical order?).

TWRP also failed, but Safestrap had a version that works with my phone. So now I have all my backups, and I'm dithering between just freezing stuff and installing Cyanogenmod for the fine-grain access control.