The easiest way I've found is that anything electronic should go, anything classic and sturdy would most likely be a good keeper. Little plastic things just get brittle and broken over time but solid wooden toys are keepers, the Little Tikes stuff is often a keeper depending on what it is and some of the Fisher Price stuff is also a keeper. Like I kept all the boys LT trucks and all the peek a blocks that we have and all the holiday themed Little People stuff. Although I sold off 99% of our Little People collection because it would be way too cumbersome to store.
Anything they've chewed on or possible drooled into should be tossed for sanitary reasons.
Anything missing pieces should be donated or tossed (puzzles too) since those missing pieces are not going to reappear in storage.
Hopefully that helps in breaking the emotional ties to some of the toys. I know it's very hard to get rid of your kids things but you can always take pictures of the toys and write down little bits and pieces about it (like who's fav it was, who gave it to which child, etc) and then just keep a small flip book or memory box with those in them. Easier to relive the memories when you can just grab a box and look at the pics and notes.