Are your apples and pears able to cross pollinate or are they self pollinating?
Get 4 (ish) mains on your apples and pears. I try to go for North, South, East, West but sometimes the trees don't abide by that. I try to get the 4 mains about my belly button to chest level ideally. My rules for my trees are. Cut off anything going back into the tree. Cut off branches which cross. Cut off anything which grows down. Cut off anything which goes straight up to 6" and 6" between those. OK. You WILL still have limbs, don't worry.
Save those branches which curve. ~ll~ <---- Kinda like that. The ll is the trunk and the ~ the branches. The one on the right side is correct. The one on the left not so much. The one on the left curves down.. the one on the right arches up. You want the arches to hold the weight of the fruit. The weight of the fruit on the left will rip the branch off the tree, the branch on the right will act like a spring. I however would cut it at the "U" part to the left of the "down part" of the curve. Then wait for the next branch to curve from where you cut it.

See the curves on the tree above? And the curve on the curve? This is your springs to hold the weight of the fruit.
Cedar