I think that for 2 people who harmonize and don’t have to worry about money, a gallery is not a waste. Especially in this situation, you can afford “impractical” playthings, whether it is the open transition from bedroom to bathroom or, as here, a gallery with a view. Now you have the inspiration and peace to enjoy it.
No one carries anyone up the stairs. So again, the elevator. Do you want to give up quality of life or feeling as long as there are technical solutions? My experience is: no changes as long as it somehow works. Maybe someday you’ll need help and aids, and the bedroom and bathroom should fit then. No compromises. If you think about staff (a caregiver is not uncommon), then why not have the guest room with a bathroom in an annex? Living space planned so that a bedroom can be separated that is suitable for a walker? In the pantry, there are connections so that it can be turned into a senior-friendly bathroom with a walker and caregiver. There are also spry seniors. I had a landlady who was physically and mentally fit almost until the end. At 90, she would not have thought to restrict herself because of a staircase.