Not necessarily ALL the counters, but clearing everything off the stretch of kitchen counter you use most for prep and baking makes a big difference in how easy it is to work. It makes for less cleaning, too, when you don’t have to wipe spatters off half a dozen doodads sitting at the back of the counter!
If there are often-used things which deserve to be "always out" in that counter area, try mounting them on the wall: magnetic strips hold knives and other items, mini-shelves hold condiments and spices, hooks and racks hold cups and mugs. Need to have a small appliance sitting there? Try an under-cabinet mounted version to get it off the counter.
Once you have a clean sweep of counter to work on, you’ll cherish it.