I don't think it is necessary to repot (or simply lift it a bit) yet so this year I have two goals. One is that I want to ensure the caudex gets as big as possible so I will be giving this plenty of water when it is hot and sunny. Secondly I am quite aware the new branches are rather leggy due to lack of sun. The severity of that situation is obvious when you compare it to the photo here (a great site for information as well). To get it to grow more compact I will need a lot of sun. So in the future I will probably be giving this quite the haircut in spring and hope the new growth is nice and grows compact in the summer sun.
As a bit of a prelude to this I trimmed three of the branches just to see what would happen. Days after the pruning you could see the new buds swelling and now you can see that for each cut branch one or two new ones are going to take it's place. This year we can see whether the new growth will grow compact after a spring pruning and also whether the new growth will flower.
About two months after these pictures above the Pachypodium succulentum is doing rather well outside in the sun.
The pruned branches have branched nicely but as you can see there is also some spontaneous branching.
The sunshine means that the leaves are growing nice and closely together. Next spring a radical haircut should provide a good compact habit of the new branches.