Permaculture

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In my head it’s all your veg planted together with lots of herbs & companion flowers. Planted big blocks.  I’ve always wondered how do I get to stuff that’s really for harvest in the middle without crushing other plants. And what else gets done. It’s not just that simple is it? 
You see this is why I need help   .

Goggle Polyculture - for mixed beds where groups of plants complement each other.  Its the opposite of monoculture.  In an ideal world there'd be little gaps between the plants that you could step into. Of course, it doesn't work like that here.
The beds can be any size that suits you. They don't have to be random shapes like mine - they can be conventional edged/raised beds or a mixture of the two.