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Bramley and Discovery are both what is called partial tip bearers. In other words, some of the fruit is produced at the tips of the branches and some along their length. Clearly, pruning the branhes at the ends will result in fewer fruits next year. However, a balance must be struck between leaving the branches unpruned and having the tree grow ever larger and trimming them but losing apples. So it
If your tree is older than three years but not huge, you can safely take the central leading branch( or branches) down by a quarter of what it/they put on this year. That will encourage fruiting spurs along the length of the branches and keep the fruits within reach. Then take out any old, dead branches and any that cross the centre of the tree and clog it up. Make sure that no lateral branch overlies another by less than 18 inches.
Keep doing that every year and you should be OK.