The shelves in my pantry pull out. Never anything lost in the back. I love this pantry. But it’s a cupboard, idk if you could do that with your set up.
I’m getting those pull out shelves retrofitted in my pantry cabinet.
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If price is no object, this built in folding step stool looks ingenious:
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That looks really cool, but I would need one in about 10 places in my kitchen.
We have really high ceilings so there are lots of rooms where I have things higher than I can reach. I keep step stools all over the house so I don’t have to drag them around very much. In one pantry and my closet I have this library stool that has worked really well. I like that I can easily roll it where it’s needed and it’s very sturdy.
https://www.amazon.com/gp/product/B001GN7QWA/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1
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I only have 3” to the left of the door and 7” to the right. This house has some oddities in the layout that cause me headaches. In this case, the front width of the closet is shorter than the back to accommodate the landing and staircase to the second floor.
I love that!! DH will probably veto the price because he wants food in there 
@helpingmom40: Where in the world did you find the pull down shelf you posted in Post #8? That is brilliant, and I could use several of those in my kitchen.
I don’t know if California Closets does demo or is willing to cut drywall, but access to the upper right corner of the closet space might be improved if they are willing to put some kind of little door or drawers on the wall within your stairwell. Even if they didn’t cut the studs, I wonder whether a little narrow door would allow you to keep items in a space that would otherwise be hard to reach by the main door, even with a stepstool. Just a thought!
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It may not be for everyone, but that stair-side access is a cool idea.
One of my favorite details about my 50’s house is the hallway linen closet. It is very deep, but the top half is accessible from inside the bathroom, too. It is awesome for towels. I always feel like it is a magic trick when towels go in through the hall door and poof, there they are in the bathroom!
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Lots of people make those shelves. This is the one I’m most familiar with: Pull-Down Shelf
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Rev a Shelf is a good, proven brand. 
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We have that! Except we have to activate it but but love it anyway!
I’m thinking on the lower portion of the wall, maybe, like under the railing. We don’t have any issue reaching items on the shelf from the door but when junk falls on the floor back there, it is a nightmare!! It probably would look weird but it would definitely be useful!
If you were going to DIY, I’d say half-wall wainscoting on just that wall of the stairwell, with one panel being the hidden door. But I’d hope the closet consulting company would have a bunch of solutions for camouflaging the side access. Or even better, when they do a full redesign, maybe you won’t have that weird floor patch for things to fall into anymore!
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I like the idea of lazy susans, especially in the corners. I also like the clever idea of adding wainscoting to camouflage a stairwell side access to the pantry if possible. And/or you might be able to inset some narrow shelves into the stairwell wall or into the wall opposite the pantry door hinge (can’t see how much room you have there). Also consider how you might take advantage of the back of the door.
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In our previous house we had a pantry like this. Multi-Storage Pantry with Swing-Out Shelves - Gallery By Elevations
I wanted to get something like that in the new house but it came with a smallish closet pantry much like the one that @helpingmom40 posted above. If I was remodeling, I’d definitely get the kind with the swing-out shelves again.
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