You definitely need to prune, but generally if you are diligent in the first three years then the rest can be relatively easy.
Do some research -- The web is full of instruction; check out university sites. Best bet is to head the peaches at ~2-3' with 2-4 main scaffolds forming a big vase; apples can be headed higher at ~3-5' ("modified central leader") with 4-6 scaffolds arranged in a spiral around the trunk; pears really want to grow upright, so you want to encourage a single central leader. But developing a well shaped tree takes a few years.
Note that deer will aggressively browse fruit trees. Since you can't hunt 24/7 or in summer, you'll need to put a fence around each tree (or all the trees collectively) at least until the branches extend higher than the deer can reach. I've often seen deer on their hind legs, browsing 6+' high. Don't expect any leaf, twig, or fruit to survive below 6' without protection.
Regarding ground fall, if you can be certain that the wildlife will eat ALL of what's on the ground, fine. That might work for deer and apples in autumn. But if not, you could have trouble. Rotting fruit (even those immature and unappetizing apples that drop in June) is a home / breeding ground for insect pests. For example, fruit flies in the rotting fruit on the ground will move to (and ruin) the otherwise beautiful fruit on the tree. Coddling moth larvae in this year's dropped fruit will become next year's breeding adults. So it's best to rake and remove fallen fruit. Also, the raccoon or squirrel or possum that is attracted by fruit on the ground will have no hesitation climbing the tree -- I've begged them to eat only the fruit on the ground, but they ignore me. [Once during a drought, I had a woodchuck climb 4' up a tree to get peaches.] So your worst case scenario would be uneaten but rotting fruit on the ground with eaten and rotting fruit in the tree.