I've had expensive cameras for nigh on 50 years now. For most of those years I've stored them in camera bags, on shelves in cupboard. I live in a dry northern climate and the house is climate controlled...A/C in summer, natural gas furnace in winter. Temp year round is around 20-21 Celsius.
I use both Domke F-2 Original bags and an assortment of LowePro bags. The bags all have padded sections (or pockets) and I add to the padding by inserting Frank (brand) soft foam sponges ...both on the upper bottom of the bags and also to cushioning, tight positioning and shock absorbing around equipment stored...such as lenses, bodies and flashes.
The sponges are easily/quickly removable and I get them in the household section of Canadian Tire stores.
I position the lens...rear lens cap down and the bodies either rear body or bottom body. Haven't had any difficulty for decades storing this way. Also I keep the top cover on the various bags zippered and clamped tight, during storage. I also have a cupboard in a spare bedroom that has shelving installed and the bags are placed there.
Don't get me started on how I carry my camera equipment while traveling in vehicles.