I would move the pantry door outwards. Such a small pantry (even though it probably isn't one at all, but rather serves to store the vacuum cleaner and such) doesn't make sense.
In the upstairs bathroom, I would swap the sink and the bathtub. You have small children, so it's good to have a lot of wall as splash protection...
Consider making the wall between the toilet and shower halfway up out of glass in the upstairs bathroom, then you'll get some light into the shower.
Otherwise, having measurements would be good.
You are right, the pantry isn't really a pantry but more of a storage room. Just for vacuum cleaner, mop bucket, and a crate of water, etc. And the space is actually enough for that.
If we swap the bathtub and sink, nothing changes, does it? The bathtub is free on three sides in both variants.
We will make the wall between shower and toilet out of glass starting from the height of the flush tank.
Unfortunately, I don't have a plan with measurements at the moment. But maybe something can still be done.