Supporting and training vegetables to grow upright, away from the soil surface, takes up less space in the bed.
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Vining crops such as peas and pole beans grow nicely on wire-covered A-frame structures. When the produce is ready for harvest, it will be within comfortable reach from either side.
There are two types of tomato plants. Determinate types grow only about 4 feet tall and stop. They don't need a tall trellis. A sturdy wire cage suits them fine. They also do well in containers with attached supports.
Indeterminate types will grow as high as 20 feet if you let them. Make a 6-to-8-foot support for them -- whatever is within maximum reach -- and clip off the tips of the main stems when they reach that height. This promotes subsidiary branching and more production.