I place most of the heavier items in the floor-level cupboards to keep the weight out of the top cupboards.
I have a rear kitchen - it's the part of the van which moves the least.
I've never wrapped the micky wave plate, I just stow it on the couch secured between the table and the cushions. It won't roll around in the m/w because the plate is fixed by the toggles on the bottom, and it can't roll around unless the gadget is turned on to cook. The plate has never jumped off the toggles.
I've used the plastic vege baskets in the top cupboards, which gives me 2 shelves with ledges which stop things hitting you on the head when you open the cupboard. Ouch!!!
I try to put light things in the top cupboards, like cereal, flour, acrylic glasses, picnic paper plates, stationery, medications, stubby holders not saving glasses, coffee, tea and tea towels. Oh, you get the idea.
The principal is really to keep the weight as low as possible in the van, with the heaviest over the axles if possible.
My storage under the front double bed holds some of my heaviest stuff which puts the weight on the tow gear and the tug.
It all tows very well, with no sway or wobble. It's all good. Safe travels.