Josh, that's a great looking tree! There's nothing wrong with letting your tree grow into it's natural form. The apples that you can't get to will be for the flocks of birds that visit in the winter when other food is scarce. There are many reasons to prune, but they are all about you, not the tree or the myriad creatures that your tree provides for. Until you absolutely KNOW what to do, don't! Just let it be.
I would suggest that you plant some friends for your trees. Since fruit trees are typically a mid story species and need taller trees to provide shade for the tree tops, I like to plant
Honey Locust, Mulberry and walnuts in the orchard with them. Once you get the
land more healthy, the tree will become so laden with fruit, that the branches will bow down to you for easy picking.