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I would sort out how many branches you got that are within 1 feet of trunk length, clear out all branches that are lower than 12-18 inches, have first spread above ground 12-18 inches max with 3 to 4 equally spaced branches all around, then those branches cut them at 12" - 18" length and expose leaf nodes at the ends no more than 3 nodes. you will start to get a nice low canopy. Most my cherimoya form and produce fruit under 6 feet, rest is all junk growth.