I haven’t had a garden in years.  Where I live now most of what we plant becomes deer food, and we like our deer.  When I did have a garden in the 70’s I built my own raised beds and used French Intensive Gardening.  You never walk in the beds, and you grow multiple crops in each of them.  I don’t have pictures of mine, but I will add a youtube video that explains the concepts.  My beds were all less that 12″ tall.  The videos show some taller ones.  Look into french intensive gardening to find out what to plant in each bed.