I don’t stake my trees whenever I can get away with it, most seedlings planted directly into the ground will not require any staking.
But, you have consider what your starting material is. Often newly purchased trees from the nursery look like your tree. In this situation. I would stake it at the lowest point possible and still allow for your tree to be upright but still allowed to sway in the wind. If heavy winds are expected, it will need to be secured better to avoid being snapped. The extra ties should be removed after the wind event so the wind stress can make the trunk stronger.
Simon