You are right in that the sign of each orbital, especially the p ones, is different in every hybrid orbital.
Your equations are, however, lacking the normalised contribution factors that should precede the wavefunctions. A better equation for the first orbital would be:
$$\psi_1 = a_s \psi_s + a_{p_x} \psi_{p_x} + a_{p_y} \psi_{p_y} + a_{p_z} \psi_{p_z}$$
The point is, that the contribution factors are equal for every sp³ hybrid orbital — every hybrid gets ¼ contribution from every p and the s-orbital. That way, all orbitals are rendered equal because their atomic orbital contribution factors are equal, too.
The signs before each p-orbitals contribution do not matter for the orbital’s energy value, only for its orientation. So inspite of all orbitals having different combinations of signs, their energy can be equal (but they will ‘point’ in different directions).
(Note that this is a simplified view as are hybrid orbitals in general. Spectroscopically, you can measure two different energies of the bonding orbitals in methane — the explanation cannot be given by hybridisation theory but requires proper molecular orbital theory.)