Maybe cut another opening the a door at the other end to make it more accessible

We have closets just like this in the home we are purchasing. The closet actually runs the length of the room and has multiple entrances. Not sure how long yours is... My husband wants to demo the wall and add square footage in one room where the closet is especially long. That room actually has another closet so we won't be losing any storage space. For the other rooms there's low bars about waist high. These are the kids rooms so it's actually the perfect size for them. I'd imagine it'd make for a smaller closet for a master though. There are really unique built ins in one of the closets, small shelves that fit with the roofline, perfect for shoes.

Storage boxes would maximize the awkward space.