For a more orderly look, I plant in short rows. This makes it simple to reach between plants to weed (anything not in the row is likely a weed) and stake, and to place soaker hoses. The rows are closer than recommended because I don’t need to walk between them—I just reach in from the outside.
Tall plants are generally sited on the north side so they don’t end up shading other ones. Shortest plants are on the outside edges of the beds.