Yes, small stumbling blocks always become annoying at some point. It is only frustrating if the nursing service can’t properly reach the shower and the kitchen is only accessible by maneuvering back and forth three times. It works pretty well with a compass to get the 1.5 m turning area. I think the space requirement at the bed shouldn’t be underestimated. I see it with my parents how something generous becomes a bit small. If you build without a basement, you have to support the house in some way. Wall, stilts, etc. Just like did. However, he didn’t necessarily look at costs. His focus was more on how he wanted it. With such a height difference, the cheapest solution is always to reduce the floor area and put rooms in the basement. Reducing is only possible to a limited extent for you. I find the solution as you have drawn it quite good. Everyday life upstairs, everything else downstairs. I would also plan a niche upstairs for the washing machine and dryer. Carrying the laundry basket downstairs can be tedious.