My vote: Leave Be
Small tree with limited resources in trunk and limbs. I would not deplete those resources.
In about 3 years, you could always air layer any unwanted limbs if you wait.
Tree will eventually grow vertically more. Presently few limbs horizontally and plenty of sun hitting all horizontal limbs without shading them so tree has no huge urge to grow vertically currently.
I don't see any Kents on that mango tree. I hope you had some this year on another tree?