For your shelving, assume one coat of primer plus 1-2 coats of paint. Also assume that you will paint again in 2-3 years to keep the pantry new looking. I agree with catbuilder that the cost of paint (vs. your labor) is neglible. Get the best paint possible. I'd highly recommend Benjamin Moore Aura. A gallon runs 55$ ish? but should cover the pantry plus multiple touch ups over the years. Follow their recommendations for primer and final color.

Benjamin Moore owns Cabinet Coat so its going to be a stronger coating for shelves than Aura. But no paint will hold up to metal cans dragged across the surface forever.

only thing that will last longer is formica covered shelves,

I’ve been refinishing cabinets for about 20 years now, and I would never think of using anything but oil base paint on the shelves.
It’s hard, wouldn’t scratch, and cleaning is a breeze.

need something at a lower price-point that will hold up, take a beating, and still look good 5+ years later.

I understand wondering if such a magical brew exists but it doesn't.

The only product that will deliver what you're asking for is PPG's Break Through. You won't have to worry about blocking which is the shelves remaining sticky, like they didn't dry right.

Originally formulated for paint store shelves, it was designed to dry fast, be block resistant and wear like iron in order to stand up to paint cans constantly sliding on and off the shelves. Major brands tried for years to duplicate the formula but none of them could. PPG finally just bought the brand.

It is not cheap. Retail, a gallon is $85 in most markets. Wipe up spills immediately. Apply with intention. Because once it dries, it's not coming off. And it smells but it dissipates quickly. Applying this stuff in a closet without generous ventilation is brutal and I recommend a paint respirator (not a dust mask) to manage the vapors.

I love using Breakthrough for cabinets. It can be sprayed, rolled or brushed but it dries fast so keep a wet rag handy and keep an eye out for spatters.

I am happy to report that I pay much less than $85 per gallon at my local paint store. Unfortunately, it only comes in gallons but a gallon does quite a lot of surface area. You may need three coats but that isn't a problem as it dries quickly.

The PPG paint store near me repackages Breakthrough into quarts. Was quoted something in the mid $70 range for a gallon. Don't remember exactly.