Found a reasonable alternative to custom shelves.
I purchased these sliding shelves from Bed Bath and Beyond. With 20% off coupons, they ended up around $50.00 apiece. I have seven now, in all my lower cupboards. No more squatting or kneeling to get things out of the back.
They really encouraged me to de-clutter as well. Those big old pyrex mixing bowls are banished to the "student cupboard" in the basement. I much prefer plastic nesting bowls, with measurement markings and non-skid rings.
My Hubby had no difficulty installing these, other than a few grunts and groans. A battery operated drill for the guide holes makes the job easier.