get a couple coat tree or one of those closet on wheels, with a bar for hangers
is there's any where, even rerouting a path, that you could put a bench with a compartment or shelf under it?
dp and i take our shoes off under our bench, and then we hang our things on a coat tree around the wall into the living room -- and the rest of the mudroom is for the kids, all three of them have about 2 feet for their own area/cubby
consider removing one of the doors if there's another route that can be taken, and build a shoe shelf there maybe
i've also hugely edited out shoe supply and update when needed. right now the kids wear their snow boots and that's it.....literally. *they change into slippers at their school
any few inches of wall can have some big fat nails or hooks coming out of it for hanging a single thing on.
my mudroom sounds exactly like yours so i've thought about this a lot