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It's hard to say for sure but I think swapping the bed to the opposite wall (bottom, next to the patio door), dresser flat against that top walla, and maybe even swap bookshelf and dresser (assuming bookshelf is narrower) so that you have maximum space between the foot of the bed and other stuff could work. Maybe scooch the bed close to that diagonal portion too so you've got a little more room between it and the door. Furniture swaps can help too if you have the budget (or are willing to do some hunting for cheap/free 2nd hand stuff). Tall and skinny dresser/bookcase takes up less floor space, you could try a murphy bed or invest in a nice futon/sleeper sofa (not that crappy stuff from college that hurts your back), or even a loft bed if that's not too impractical. You could get a bed frame with integrated storage, or if there's room to spare in your closet, move some stuff in there to get rid of your bookshelf or dresser. I've had a system where seasonal stuff is stored under the bed, regular clothes hung up, and underwear, pj's, etc. in a hanging organizer like this to eliminate the need for a dresser.
Here are two items that match your request. Mainstays Closet Storage Organizer, 6 Shelf Hanging Closet Organizer, Non Woven, Arctic White - Walmart.com Mainstays Canvas Underbed Storage Organizer Bag, Clear Visibility, Large Capacity, Fits Under Bed - Walmart.com