This Xposed modification brings back an ICS-style default application picker where you just tap the application name once for it to launch, and tap a checkbox prior to that if you want it to be the default app.
This is a modified version for KitKat only!
If you need the module for Jelly Bean, you can find it here:
If you're on KitKat, get the modified version here:
NOTE: Unlikely to work on devices with TouchWiz!