We adopted a spatial configuration with a skip floor, where the upper and lower floors are connected by being offset by half a floor so that you can feel the presence of the family.
A feature that inevitably creates underfloor storage and a roof garden is that the walled roof garden is connected to the bathroom, allowing you to enjoy a private sky that cannot be seen from anywhere.
I rarely go up to the rooftop where I can't see it, but the garden-like rooftop that I can always see half a floor above seems to be my favorite space.