Orchard fruits on fully dwarfing stock require permanent support as the small root systems that result in fully dwarfed tops don't provide adequate long term anchorage.

If they were already there when you moved in is it possible they were intended to be grown as cordons? i.e. Intentionally at an angle? Do they have angled stakes/supports?

The stakes are there but the trees were unattached. Like the cords broke and were not replaced. Is there anything that can be done?

A picture would help. Without that I'd suggest a support under the tree. This could be something like a 2x4 or 4x4 depending on the size of the tree. I'd put a footing underneath so it doesn't sink into the ground. Also you might try to lift the tree some when the soil is wet and fit the brace under that.

A smaller tree could be staked and pulled upright towards the stake. It takes a big deep stake to hold the tree.

You could even do both, stake on one side and brace on the other.

Can you clarify? Do you mean that the stakes are also at an angle? Photos would really help but if small trees are growing healthily at such steep angles I do suspect cordons. If so forcing them upright defeats the point of this growing method.