Storage and height are the key. I have a single garage with 6 bikes (all are XL in size, one of which is a huge cargo bike), tumble drier, work bench, work stand, lots of football kit along with usual garage DIY stuff, it all fits fine.
Bikes are stored off the group, I use 3 cheap Aldi stands that store one bike above another, this means that (with a bit of overlap and careful angling) all 6 bikes are on one wall and I can get at them all easily. The other side I have a big set of steel shelves that take up about 1/2 the length and hold all the DIY stuff (top shelf, used the least so hardest to get to, step ladder needed), the football kits (in boxes to save space) along with my spares box and other such stuff, tyres and things that I don’t mind getting a bit mucky sit on the floor underneath it all and various other things hand from it (shoes mainly, along with old chains and other stuff too bit for boxes.Work bench is at the top of the garage, tumble drier sits underneath, tools on a shelf above along with iPod dock and various chargers.
It’s a bit cluttered but it does work.