Your wasting a lot of space for a hallway and creating a congested area. If it was my house, I would get rid of the wall with the cubbies. I would put a door where it says "drop zone." Imagine a door that would be shown vertically on your plan--one side connect to the bathroom wall and one side to the master closet wall. Place the cubbies along the wall where the powder room is located or along the wall where the master closet is located. People walking in from the garage will see the cubbies immediately. The laundry room door might need to move a bit closer to the garage.

Why don't you ask whomever is responsible for this drawing?

There are lots of things which could be done, including rrah's suggestions.

Keep in mind that in architectural design, everything is inter-connected. Push or pull something here, and it not only affects something(s) over there, somewhere, but it also affects your site plan and your exteriors.

The simplest solution, based on your request is just to move the 24' X 24' away from the house by 10' or so, "square off the house wall which remains and redesign mud room, laundry, powder room to fit in the reconfigured house space. Link the house and newly relocated garage by an outdoor or indoor breezeway. Simple!!