Here is my opinion. The fundamentals apply to both home design/remodeling and to AS travel.
(for purposes of discussion, I am not considering weight of items. Be sure to adjust if any of this would mess up the load characteristics needed for safety.)
1) Determine how frequently things are used, and store them based on that to the degree possible.
Give high priority of convenient space to high frequency use items. Store less frequently needed items in less accessible storage.
(You would be surprised at how common it is to just put big stuff in easy spots, and then have to stash smaller (but more often used) items in out of the way places.)
I have what I think of as my set up kit. Includes the power cord, hoses, chocks, legos. These need to be easy to get to and store. Probably in you AS hatches, or easy to get to in the bed of the truck in a bin, or in a bin right inside the door of the trailer. Figure out the couple of tools you use every time for set up and teardown (level, socket for water heater, flashlight, gloves, stabilizer tool and also keep these with the Set Up Kit.) Give the highest priority and most organization to the things you will use a lot.
2) Store things that are used infrequently in the least accessible storage that makes sense. Consider keeping other tools deep under the bed, under the dinette, or in other less convenient locations. Extra paper towels go way under the bed.
3) Store things close to where they are used if possible. Things that never come inside the trailer for use (bikes, BBQ grilles) don't need to be stored inside the trailer. Things always used in the trailer (bedding, clothes for the next 24 hours, toiletries,) should be in the trailer. This is to avoid having to do a bunch of swapping around from travel --to set up-- back to travel.
We bought a 22 in part because I realized we would not be able to keep towels and toiletries in the bathroom of the 16 and use the bathroom, and there was not enough room to store food in the kitchen of the 16 and use the kitchen for us.
4) In cases where you will need to do swapping around, find task specific containers that easily fit in both locations and are easy for 1 person to move. You might want a covered plastic bin or a duffle bag that would hold helmets, bike pump, etc,. Sure you may find you need to keep this in the trailer when traveling due to space, but make it easy to grab and stash in the truck when you get somewhere.
5) When possible, have dedicated items just for AS use. Buy a second dog leash, or set of bag chairs, that are just for AS use. Keep this AS equipment all in 1 place at home in your garage, basement, or in the AS depending on your storage availability.
Also see this post for how I did my set up kit in the small (only have 1) front locker of my 22