I don't pronounce the 'r' in 'var' but the 'r' still affects over word boundaries to cause the retroflex sound, i.e. va(r) står du becomes va ʂtår du (too lazy to bother use any more IPA than ʂ XD) even though I do not pronounce the 'r' in 'var'.
So, my strong instinct is that in English, this is always phrased using the definitive: 'Where do you keep the saucepans?' or 'Where do you keep your saucepans?' 'Where do you keep saucepans' just feels wrong to me (in English). Is it just not definite in Swedish?
It literally means "Where have you saucepans?" which would more commonly be said "Where do you have saucepans?" because English likes to use auxiliary verbs. But that's still kind of awkward in modern English, so it becomes "Where do you keep saucepans?"