When my kids were young and small I kept the plates and glasses in the low cupboards and that way they could set the table without dragging a chair to the cupboard etc.
Also, my younger sister just shared a storage idea that might work for you I use it in my bathroom and she uses it in her bathroom and pantry. Buy a shoe storage that hangs on the back of a door and has about a dozen slots for shoes, it works great for all kinds of stuff. When I remember more of the things that I do or used to do when the kids were younger I'll let you know. Keep up the good work and have a great week.