You might consider orchard grass. It grows in “cool season “. I am guessing that would be from first rain in the fall through late spring for you. It’s a perennial but grows more as a clump than spreading by runner.
In western Colorado where we have snowy winter and hot summer, it grows in the spring and fall. In the summer it is green and if irrigated it still doesn’t grow. You can get mowing rarely and strategically. You can bale the cut grass or leave it in place. Strategic mowing will build the soil by feeding the soil food web.
If you aren’t familiar with the idea of strategic mowing… the main thing is to not cut too much of the plant off. Leave a third of the plan so that it still has decent photosynthesis ability. Cutting off the top of the plant stimulates the root exudates.
If you mix in comfrey (not the one that spreads by seed) it can be mowed too. I think some alfalfa would also be good in your orchard, it’s another deep rooted perennial that feeds the soil and adds nitrogen.
I don’t agree with the idea that deep rooted ground cover plants necessarily take nutrients away from the fruit trees.
Chickens would be in heaven in your orchard!
I had an ancient productive apricot orchard. I let the fruit tree ripen, then preserved a lot, as well as sold the tree ripe fruit which many people are SO thankful for. Most orchards pick “hard ripe” or green ripe, for shipping and storage. The bright flavors of tree ripened fruit are hard to find. A lot of fruit ended up on the ground. The chickens loved the fallen fruit… they also loved grazing the grass. My dairy goats loved their turn in the orchard too, but I had to fence them away from trunks and low limbs.
Green Cover Seed is expert at making custom cover crop blends …. They design the mix based on the orchardist’s goals and priorities
https://greencover.com/
I’ve heard the owner speak at soil health conferences several times. They are a tremendous resource, quite knowledgeable about an astonishing number of plants!
Good luck! And have fun.