We have dwarf trees - and keep them to about 11' tall - so everything can be reached on a 6' ladder.
Peaches are self pollinating, but having two different types may hedge against any disaster. we have 3
They need some trimming of cross branches, and anything that goes straight up. Usually in winter, and it doesn't need anything larger
than hand trimmers to do it. They have beautiful flowers in the spring, and there is minimal mess from dropped fruit (our local groundhog
takes care of that.)
if perfect peaches are the goal, then they will require spraying with insecticide. depending on area and personal tolerance,
the stuff can get nasty (malathion) - i don't spray at all, and just prune off the peaches that the bugs break into, and cut out
the bad spots on the ripe ones (birds picking the bugs off make holes)
they taste terrific when just ripe...
I'd also recommend asian pears - again dwarf variety - 2 of these are needed. I'll post some pics if i have time later.