Sure, modern cacao shaping has branching starting low. 3-5 branches from the main trunk
From low. Generally cacao branches a lot on its own, too much. We prune to keep the trees very open, cutting lots of small branches that tend to crowd each other. Lots of growers plant at about 3m spacing and keep the height under 3m. You can certainly give them more space but I wouldn’t let them get very high. Cacao is intense in its demands for pruning and removal of diseased pods and managing the harvest. With two trees you might not have issues, I just mention this for you to have an idea.
Peter