You can have either of these mutually exclusive scenarios:
A) Efficient space use
B) Efficient access
All the fancy "easy access with efficient space use" are inevitably lies. Once you compare them to "simple" dense shelving you find the savings miniscule and the ease of access still not as good.
From those my experience - even after living in a VERY small flat one with just a "kitchenette" - B >>>> A up to a point I would REDUCE THE POT/PAN count just to avoid any stacking - pending SO agreement.
I would gear the oft-used pot/pan count such that all can be single-height placed and one-deep placed and handle-to-front-placed. No vertical placement or anything fancy. Just simple adjustable-height shelves aka LR32 and a couple extra shelfs/pins stored in one of the cabinets, so they can be used as/if needed when pan/pot composition changes. It will change..
Drawers are also OK-ish, but no a fan for pots/pans. Rails and drawers sides just consume the space which they "save" by allowing a double-depth storage. So they end up a wash with accessibility, complexity and (less) flexibility being a negative.
That said,
it is practical to have one-two cabinets which are specifically designated for rare-use items and which presume stacking and two-deep storage. Such cabinet(s) should be chosen at the farthest/least accessible location. Since easy-access is not sought, there is no point in making them any complicated. Just high shelfs are as hood as it gets. These are alos greta for kitchedn appliances etc. basically "general storage" cabinets.
My 2c -> YMMV esp. ref SO views ....
ADD:
What we do for small pans/pots - which would otherwise waste (too) deep shelf space - is we use the back of the shelf for long-term food storage. Stuff like Sugar, Flour, Vinegar, Pasta, which we buy in bulk usually. Works good as one does not often need to get it and is still just one pan/pot away. It is still stored one-deep in a way that if there is a bag of sugar, there would bo no other item in front of it - except possibly another bag of sugar.