I have a a few acrylic lazy susans similar to this under bathroom cabinets, kitchen sink cabinet, too.

It makes it easier to store and access cleaning products and tools, or health and beauty aids. I still have some things loose, or in plastic stacking baskets behind them, things I don’t have to get at often. I think I learned about them on this forum, and I’m glad I did. Got mine from, oh, I guess TJMaxx, Homegoods, etc.

I use these: https://www.containerstore.com/s/storage/plastic-bins-baskets/multi_purpose-bins/12d?productId=10022942

I installed pull out baskets in my last home, like these

https://www.homedepot.com/p/TRINITY-Sliding-Undersink-Organizer-TBFC-2204/300012011 ; unfortunately, my new vanity space is too small for that, so I use baskets much like you showed

I preferred the first, because they were much steadier when they were pulled out (they screwed into the cabinet itself), and could carry larger items.

First, do all of those things need to be stored under the sink? Anything that could be moved to a different location (or eliminated) would help.

I like racks that attach to the back of the door.