Pretty much any team can benefit by having some sort of structure in the pit beyond the provided table. However, I think many teams over-due it. I've seen a lot of very bad pit designs over the years, with way too many towers, posters, banners, and even tents that block out light from above.
254 and 968 use
this shelving system It's rather easy to transport and even easier to assemble. It is also pretty sturdy. It is a bit heavy though. We put it in the crate and pay the overage for long distance events, or, for how inexpensive it is, you can just purchase it at a Costco local to the event. We use it in two half-sections.
For power, I think a long strip like
this one is beneficial.
For lighting, I recommend some sort of fluorescent. The halogens are too hot and too blinding.
For working on the robot, we usually set it on a plastic crate turned upside down, and have never had a problem with this. It is sturdy, and easy to move out of the way. At times though, it would be nice to have the robot elevated slightly higher off the ground to work on the lower portions.