I allow taproot "weeds" in my orchard for breaking up the soil and nutrient accumulation (teasel, queen Annes lace, dandelion, fireweed, comfrey, etc.).  I use a scythe to cut them right before they go to seed (except the sterile comfrey), to keep them from going too crazy.  Allowing them to flower gives lots of food to my pollinators.

I also do not disturb the moles unless they get in my lawn.  And even then I just use a hose to wash their dirt back down into the ground.

In other words, I let "nature" do most of the work for me.

Of course if you either are in a big hurry or you want your orchard to always look like a putting green, you'll need to use big machinery.