Hi-
When I had a deep, thin pantry I tackled it several ways. It was a rented apartment so I could not do anything permanently.
I used a self-standing shelf insert & was able to put cans under & on the shelves, in rows with identical items. Like all the cream of chicken soups were lined up in front of the other, etc.
Another thing I did was put taller, lesser used bottles to the back of the shelf, and a little box with spice packets in front. I could easily move the box to get to the bottles.
I have seen can dispensers online. The cans roles to the front after the one in front in taken out. They have them for soda and soup size cans. My shelves are not deep now, otherwise I'd invest in the dispenser.
Good luck & I hope you find something that suits your situation.