When you are dealing with limited space, you have to find creative ways to store your items. One thing that helped one of my clients was installing hooks on the back of the bathroom door and closet doors. Just a couple, not too many. You can hang towels, jackets, robes,etc.
There are all kinds of hooks of diffrent shapes and sizes and materials. For example if you can put holes in the doors, there are the kind of hooks that have strong tape backing for easy install and remove. See below: