To keep my lids to my pans organized, I purchased a wire dish drainer and placed it in the cupboard beside my pans. I slide the lids in the slots the same you would do for plates and I no longer waste time and cause a lot of racket looking for the right lid. If some lids are too thick to fit into a slot you can remove the wire that holds the lids/plates into place to make it wider.
Bubble wrap can be used to protect pots and pan from scratching each other while stored. This is a page about use bubble wrap to protect stacked pots.
This is a page about hanging pots and pans. One way to better utilize space in a kitchen with limited or unsatisfactory cabinet space is to hang your pots and pans.
