Welcome to permies Sam.
I'm into espalier, so I'm interested (read: nosy

) about your desire to avoid it.
My first thought is that you have more space than espalier needs, and want to maximise 'tree'?
I can also think of oodles of reasons for people to be not keen on espalier, like the unnatural, controlling, technically demanding pruning, the hardware required, and so on.
The times I've seen fruit trees close to a wall, it's been because the were planted too close, and much brutal hacking ensued, forever
When I've had to prune between a tree and a wall it's been pretty annoying,
but the trees have always been neglected and overgrown, not pruned specifically for that space.
What species are you interested in?
Are you talking actual dwarfing rootstocks/genetic dwarfs that make very small trees?
If so, you may be able to plant them further out from the wall, as the canopy can be pretty small. I ask as over here, 'semi-dwarf' generally still makes quite a large tree.
There's 'columnular' apples that grow straight up, with little branching.
I'll be reading what others have to say!