If you are planning on staying at your place a LONG time, I would space a little wider.
Before I started planting trees at my place, I saw a row of mature mango trees that were planted 8 feet apart at Fruitscapes nursery. I am guessing they are now 15-20 years old and 20-25 feet tall. The tops of the trees were like one continuous canopy with a lot of shading that I am sure hurts productivity. Most of the fruit is on the outer edges of the trees and the inner canopy is just wasted space. It is basically a tall mango hedge. The intention may have been to use the trees as a windbreak as well, that may have been the reason for the close spacing. They still produce a good amount of fruit every year, but if they had planted 16 feet apart I am sure they would have had more productivity and less pruning. I think 15-17 foot spacing is the sweet spot for compact varieties and if you have space and don't want the canopies to touch for many years go up to 20 foot spacing or even a little more. If you want ease of pruning, the wider the better. Rob had a good suggestion on staggering the trees if you have the space. I try to plant at least 5-6 feet away from my fences to make sure scaffold branches will clear the top of the fence even if bent with fruit.
My future neighbors can either prune their side back or enjoy the fruit. None of my mangos are closer than 15 feet from the house. Ideally you want a tree at least 15 feet from a driveway as well. If a compact mango has a canopy that extends 8 feet from the center of the one foot trunk at 15-20 years of age that would suggest a spacing of 17 feet if you want minimal pruning. The majority of my trees are spaced at 15 and a few at 17 feet apart.
