I think Canvas tan or Manchester tan would be good, not to grey or golden. I recommend using a hex color finder or color wheel to find your perfect color!

If you have enough natural light in your kitchen, white walls will make your upper cabinets “disappear” for a cleaner look so your beautiful blue counters and backsplash can stand out. Blue and white is a beautiful combination. There are so many undertones to white—yellow, blue, pink (ugh!), green… If you want to go that route, make sure you do your research and sample test. The wrong white against your current white cabinet may contrast badly. It’s usually best to match whites against each other or at least be in the same undertone.

It's hard to tell without the cabinet doors on but from what I see I'm thinking you should stay in the grey category

What don't you like about the blue the walls are now? Maybe try a bluer shower curtain and see how that helps tie it all together..