I think I have it arranged pretty well now. The big pot and big skillet are just too big to fit anywhere under the sink, so they're still in a tub under the bed. I think I use the smaller ones more anyway.
I found a little wire rack that's designed for plates, but it fits the small pots and skillet perfectly. I secured it to the shelf using plastic cable clamps. I also got a small silverware holder and secured it with velcro. I also have a larger tub with velcro for misc items, like plastic silverware.
I hung cooking utensils from the top of the cabinet with command hook strips. I also have a small box on the bottom shelf, secured with velcro.
Now just about everything for the kitchen that stays in the camper is all set.
I added a sliding rack under the bench cabinet that I plan to use for groceries and other consumable items that I probably remove when not camping. I'm sure I'll still have a few groceries on the counter, but it's a nice little drawer... Better than what I have in the house!
Next I'm going to secure a large tub to the front deck and use that for the grill and BAL leveler. They're just a bit too big to easily put in the under bed area (from the outside), so I want to put them up front.