VyGrow Over the Door Organizer, 8-Tier Pantry Organizer with Fully Enclosed Mesh Baskets, Heavy-Duty Metal Hanging Spice Rack for Kitchen Bathroom Laundry Room, 2-in-1 Wall Mount or Door Mount, White

Ditch the fabric organizer thing, something else like this door shelf system would be much more appealing and sturdy for meds/cleaning supplies. Look up how to do the tight rolled fold method for storing towels, you could wedge them in there or put them up on the top shelf if they’re not used often. I suggest pairing items down first of course. And consider keeping extra sheet sets in the bedrooms. Or zipped bags for storing them neatly together. Long baskets on shelves with labels for things like “lightbulbs”, “extra cleaning supplies”, etc. Hang the steamer and iron on the wall maybe (there’s hooks online that are perf for this).