We have a similar set up in our closet as Jon. We use our shelves for clothing and hang bath towels on the inside of the door.
In our upper cabinets we store a small box that contains travel sized board games, crosswords, small coloring books, etc., the coffee pot and another small basket that contains paper cups, plates, coffee and tea, and another that contains small items like duct tape, cloths line, tiny rain poncho packets, and other odd misc items.
The sink cabinet contains cleaning supplies, trash bags, glasses, plates, a frying pan, lanterns, an inside sink drain container and batteries.
Under the sofa is our box of tools and chocks for the wheels and extra jack stands. We also store a small two person tent and the outdoor rug under there.
We also store the sleeping bags and blankets for the bunk under the two interior spaces under the sofa, and the bedding for the dinette is under the dinette bench.
Because we are weekend/vacation campers, I keep what I call the 'Kitchen bag" and the "food bag" in the car. The kitchen bag contains our Coleman grill and all plates, cooking utensils, small propane
containers, etc. for outdoor cooking. The food bag is all of our dry food items for the weekend/vacation trip. We also carry a cooler and utilize our icebox in the camper for cold items.
You'll figure out what works for you! Happy camping!