Does this maple need any pruning?

I have a rocky mountain glow maple that was planted three years ago when my house was built and I’ve left it alone the entire time. I’m just wondering if it needs any pruning or maintenance. It’s not my favorite tree but it could be worse in terms of builder selected trees. It does help block the setting sun, but as it grows it will shade some of my very small garden which I care more about.

Should I take up the bottom few limbs? The tree is not perfectly symmetrical, the left side has branches that have turned more vertical but that damage must have occurred well before the tree was planted as it’s looked like that for as long as I’ve seen it.

I figure that if the tree needs attention it would be better to do it sooner before the branches become larger.

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