It is either plum curculio or Oriental Fruit moth worm. One has legs and can crawl, the other has no leg and just wiggle. Look them up. They are very destructive and common pests for peaches.

You will need to spray with pesticide like Spectracide Once and Done.

Surround is good protection but you needs to spray it at the right time. At shuck split would be good and use about 3 cups per gallon of water. Keep it up a few more times. Most people spray it too late. Once you see oozing on little peaches, it is almost always too late.

Thanks for the help.

How do I time for the next generation?