Don't have to stake if you let it flop on the ground.

ISI (Indeterminate short internode) tomatoes are bush-type but produce for the whole season. Better Bush is one example. Also, many of the new dwarfs will produce for the whole season. However, even those all need some staking or caging when loaded with fruit. But it's a lot easier to do.

Alternative to staking is to put them on a stand of some sort, and let them hang over the sides. Best not to let them touch the ground though.

I am growing a Better Bush. It really, really is short and squat. Unfortunately the tomatoes are bland and I will not be planting it again. Really lovely looking plants though and only need the flimsest of tomato cages.

I'm growing a variety called Zaryanka Sunrise, which is described as "semi-determinate" by the seed company that I bought seeds from. It does have a bush type growth habit, though is slightly bigger than my other determinates. It's loaded with green fruit of all different sizes, but nothing ripe yet, so I cannot comment on taste.

These 4-5' varieties have been around for years, I'm Zone 10 and for me Husky Cherry Red has been a remarkable tomato :

Husky Red
Husky Cherry Red
Better Bush
Better Bush Improved

I built these last year from cattle panels for my harvest