The terra cotta paint definitely needs to go.

Take off a cabinet door and walk it in to the accessible beige room. It won't be quite the same as bring the accessible beige into the kitchen, but it will give you an idea of if is going to work.

I think it will be fine.

Accessible beige might work - a soft blue/green often goes nicely with orangish wood. Is the adjoining room the one with the chairs by the window? Or a different room? How visually separate are the spaces?

Perhaps trying a lighter color paint would work better with the cabinet colors. See the image below.

Desert Contemporary Residence: Kitchen · 詳細

Maybe this could help.

https://www.kylieminteriors.ca/the-best-paint-colours-to-go-with-oak-wood/