I know that the professional tree growers say that most need 20 feet between them, or more,
Don't forget that most commercial orchards are utilizing
full sized trees, while most 'home growers' tend to use dwarf, or semi-dwarf trees. These trees are not only shorter, but also tend to have smaller
drip lines. A tighter spacing
should suffice with smaller trees. And, some judicious pruning should be able to keep everything under control.
Dwarf/semi-dwarf trees are not suitable for certain locations: extreme cold locations, nor areas with high winds. They are grown on root stock that is less vigorous (ergo "dwarf"), and generally do poorly in harsh conditions. St. Lawerence Nursery (in USDA zone 3) refuses to use dwarf stock for that reason. All of their
apple trees are grown on Antonovka root stock because of those weather related problems. As an added bonus, Antonovka root stock has a deep tap root, which makes their trees more drought tolerant, once well established.
I believe that you still need to space them out a bit, particularly if you want some understory plantings.