My wife has the same problem in our 26RBSWE, to the point where she simply keeps all the dinnerware and cups crammed in the smaller "easy" cabinet on the side, and leaves the larger "hard" cabinet for larger appliances and things she doesn't use often, relying on "honeydo" to fetch those.
Have you considered
one of those stepstools that folds flat by simply lifting the middle? That might solve the "in the way" problem if you can tuck it up against a surface where it won't fall over.