Ha! FileMenuTools does most of the things named here.
I say that if you REALLY wanted to call a program "ContextMenuCommander" that you would be able to create subgroups of *existing* context menu items inserted by other applications. There is an application that does this called, "Mmmm" - no joke, that's its name, but it lets you edit anything in the context menu. It has a free version and a full version.