In a pantry like yours, I would utilize stacking baskets and smaller shelving units to organize items. If you have an appropriate door, hang a set of small baskets to hold spices or packets or other such size items.
Our pantry is cabinet-deep, but full height (ceiling to floor) and has 3 shelves behind the upper door and 3 shelves behind the lower door.
1. Our top shelf is for items we use "rarely" (picnic caddy, paper napkins, soft-sided cooler, and some other such items we use more in the summer than winter) and the left-front is next-up cereal. I can reach the front edge (barely), but use a chair or stool for the rest.
2. Next is our spices and herbs and supplements. I have a two-tiered Lazy Susan about halfway back on the left (it also covers the middle). That holds all the jars of spices and herbs that fit size-wise. Easily reached by me and DH. All the way back is big containers of items to refill small containers. Challenging to get, but encourages us to clean that shelf and possibly another 1-2 shelves when we refill items. Along the right side is supplements with the most used in front working back to least used and/or largest container. In front of the Lazy Susan on the left (mostly out of the way) is a large container of taco seasoning and a couple packets of something (???). We mostly create our own spice mixes, so these need to be in front or we'll forget all about them when we actually want to use a packet for guests. Fresh garlic is right in front of the Lazy Susan and we grab it first in most cases.
3. This is the no-cooking-required shelf and contains bread (all kinds), cereal for consumption, jam (unopened), peanut butter, raisins, nuts, snacks, etc. (Most easily accessed shelf!)
4. This is the cooking-required shelf. Rice, pasta, beans, soup, potatoes, etc. These items are used a lot and could be swapped with the above shelf for convenience (opening one door for spices and cooking items), except most of these items are in heavy glass jars and are easier to remove from this shelf and would do less damage if one were to fall.
5. This is the baking shelf. Flours, sugars, oils, baking soda, baking powder, etc. Sweet potatoes usually end up on this shelf.
6. This shelf is mostly bakeware. Cookie sheets (only spot they fit), cake pans, pie pans, cooling racks, rolling pin, cookie cutters, etc. I have our liquor all the way in the back because we just don't use it much. (It used to be on the top shelf in the back and NEVER got used. At least we see it now whenever we grab a cookie sheet, which is often.) I already gave away the sealed bottles to people who will use it. We do like margaritas and have those ingredients, plus other random things. Onions usually end up on this shelf.
Syrup, honey, and something else (?) floats around on whichever shelf has room. Those fit into several categories, so it works.
*I* keep it all tidy. Left to his own devices, DH would have this system in shambles in a week.
He cooks more than I do and shops for groceries more than I do. He tends to just shove things wherever they'll fit right near the front of each shelf. DRIVES ME BONKERS! If you take the time to put it away correctly, there is a lot more room and you can actually see nearly everything. I keep it neat and tidy simply by putting things on the appropriate shelf. When the shelves start overflowing, I know it is time to empty the shelves onto the counters and table and floor and wipe everything down and return items to the proper shelf. DH & DD always help and it is actually kind of a fun family activity. We meal plan to use up certain items and get creative with food in general.
