A couple of simple ideas:
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Have alcoves built into the tile wall of the tub for shampoo, soap, etc. I suggest one for shower height (people who are standing) and one lower (people taking a bath). Make sure they’re tall enough for tall bottles.
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Also have an alcove built into the tile wall above the sink for sundries.
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Put hooks on the inside of the bathroom door.
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A small vanity seems like a good idea for providing some under-the-sink storage. This one is just 18” wide. I’m sure there are plenty of others that are less than 22” wide. https://www.houzz.com/products/bathroom-vanities-and-sink-consoles/?productId=139347916&redirect=-1&m_refid=PLA_HZ_139347916_1588807165&device=c&nw=g&gclid=EAIaIQobChMI2fOLlMXv5wIVUPDACh051gdeEAQYDiABEgJEgfD_BwE
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I like the look of a wall-mounted hotel towel rack over the toilet, rather than a freestanding rack. The one I have has three shelves. I found this—just one shelf, but not expensive. https://www.houzz.com/products/hayes-valley-25-wall-mounted-towel-rack-shelf-polished-chrome-prvw-vr~113708278