We've grown apricots from seed before, and it's usually three to five years before they start to bear. At that point they're apx 4-6 feet tall. You're right that they're not fully grown at that point, but they would be "tree" size.
I'm concerned that waiting that long will be too late, that the tree would be too large.
From your comments, it appears that the main reason for the extended period is for trunk development? I am a complete newby at this. Am I misunderstanding the process?