Newly built single-family house approx. 170m² city villa

I have direct access. It just happened that way. It's nice, nothing more.

Three friends have a direct passage from the garage to the utility room and would never give it up.

If you only have to make one door for it, that's okay. But if the condition has to be bent and forced to create the connection door in the first place, so that this common wall exists and thus the door can exist, then it is elevated to the rank of a premise or priority, which should not play the leading role in planning – otherwise the tail wags the dog. From about 800 sqm of land, you can take that lightly, which would be the case for you – however, in this particular case, this door is not the only planning risk: in addition, the courtyard area is going to be paved until the cows come home. Altogether, the menu is then already above the threshold for a digestive schnapps.

Are the experiences really that bad?! It's really new to me. Three friends have a direct access from the garage to the utility room and wouldn’t give it up anymore. I don't just see it for groceries, etc., but also because I ride my bike a lot, the garage is the ideal storage place for dirty clothes/shoes and then straight into the utility room and into the house. If needed, just throw the dirty clothes into the laundry there. I’m happy to be proven otherwise.

I would usually always leave out a door directly to the utility room, our architect insisted that we get one, but I refused, he was a bit annoyed about it. In our case, the door to the utility room was about 5m from the front door, I didn’t see any advantage from it; in the worst case, you get a bit wetter from the rain.

I am also glad about the side entrance to the pantry. Especially for the groceries, it is very convenient not to have to carry them 40-50 meters and drag them through the whole house. I don't really understand the disadvantages now either.

What kind of houses and properties do you have that you have to carry the shopping 40 meters? I used to have that in Augsburg where the parking lot was somewhere.

Everything that goes into the kitchen has one more door, the wardrobe is farther.
Where is the mailbox hanging?

It is nice, has its advantages, but paving so much yard and restricting yourself with the house positioning is not worth it.

I could understand the discussion if the HAR were a pantry. But it is not. The heating system is located there, which makes it nicely warm and quite unsuitable for food storage except perhaps for cat food.
Furthermore, it is also a laundry room, which together with all kinds of food almost mutually excludes each other. Either the laundry smells like potatoes or the potatoes taste like detergent, either way it's a mess.
Therefore: Plan the rooms as you really need them. Short distances in the garden to have few sealed surfaces (which also costs pointless money). Separate pantry from HAR/utility room, optimize the location of the kitchen + living rooms independently from HAR or even the garage.