My plan is a hybrid. Plant trees, then start planting seeds. In my climate a seed would likely not survive the summers. Planting after trees are planted may give shading to help it survive. The soil will also be better from mulching, cover crops, and other stuff done for the planted trees. Over the generations the seeded trees should take over and outlive the planted trees. It's a good compromise.
On steves peach tree, i saw a video from David the Good where a seeded peach tree produced fruit on the third year.