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Unless you live in a location that you need to have a large backstock of canned foods or you have a family of six boys, you really don’t need an overflowing pantry stuffed with food.
Most people go to the store at least once a week so if you make a running list on your phone or paper, you will have all you need between visits. (Planning and going only once a week will save you money and time as well.)
If you cannot see what you have on the shelves you might as not even have it. (I am speaking from first-hand experience!)
This project is a great job for kids to help with. The older they are, the more they can do. Little ones can wipe with a rag and water. Teach them young: Never do a job a kid can do.
The less you have in the pantry, the easier it is to use and maintain. Less is more here. Once a month or so, take a look at what you have and plan recipes around the older items so you can use your money wisely.