I never prune, and I never used to stake them either. Though I never grew the big bulky European types until last year when I had one plant.
Now I use the "tomato towers" - which are no good for tomatoes (I use t-posts these days) - for supports for eggplant, just because I have them. They do take up less space when they're not all sprawl-y.
Since I no longer have a lot of space for the garden anymore, I'll continue to stake them, but I've never seen any need to prune.
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