Actually, we mostly haven’t. And I have been reminded via a post by Chris Condello, that fruit trees don’t grow in vacuums and need tending.
So, I did a search, found a useful article that appears to be very straightforward and am planting it here so I can retrieve it easily.
It is Training and Pruning Fruit Trees by the NC State Agricultural Extension Service. Since we are in North Carolina, it makes sense that they would have information particularly useful to us.