I agree with the baskets for storage.
I have cheap plastic baskets from Tesco on the top shelf which I can pull down: one for vitamins, one for medicines, one for first aid, one for treats, one for dog medicines etc.
I have all my sachets in an empty large margarine tub.
I have all the plastic cups in a plastic basket too so I can pull it out and rummage for what I need.
I have food colouring and essences (those tiny bottles) in a metal earl grey tin. I have the baking powder, bicarb etc in a lidless roses tin (the sort that you get a Christmas)
I currently have all my plastic lunch boxes etc in a bag. I need a place to hang it. You could do the same with baking trays (I have loads of that sort of thing too). If you had the right sort of cupboard you could use those Orla Keily style bags from Tesco and pull out the baking tray bag or plastic boxes bag etc.
Is there room on the ceiling for a pulley? You could hang stuff from that if you were desperate.
The baskets and tubs mean that everything has a space and you can get at the stuff at the back of the cupboard without making an almighty mess of the whole cupboard.
Cutlery trays are handy for top drawers, even if they don't have cutlery in them, as they divide all the equipment and minimise rummaging.