I don't store things the same as you, but I from what I experienced, it's always better not to squeeze things in height-wise. Pulling containers out to fill is inefficient if you're breaking down right there next to them, also this will leave some room to overfill if needed. Scrap comes in many sizes. I at least like the 24" height for what you have, but even more would make you happier (would you like to toss something into a bucket, or reach under the shelf and drop it in). Think of being versatile for the future as well.
I tried to squeeze several levels out of some pallet racking, and it ended up being more annoying and time consuming than if i had left ample headroom for what I was loading onto the racks.
Also, consider not having a low bottom shelf. Heaver bucks and bins can just sit on the floor which will free up a few extra inches that that shelf would have taken.
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