We have a 600 sq. ft. semi-organic vegetable garden where we grow everything from cantaloupe to red peppers.
The tomatoes you are describing are called indeterminate tomatoes. They grow with seemingly wild abandon and will overtake and overrun every thing in the garden if you let them.
Indeterminate tomatoes will set flowers and fruits until the plant is killed, usually by heat/cold depending on where you live.
Determinate tomatoes are smaller, more compact plants that don't have the sprawl of indeterminate. These tomatoes will set their flowers and fruit at one time, you can harvest what they set over about a 1-3 week time period, then the plant will be done. No more flowers, so no more tomatoes. The plant may survive, but you won't get any more fruit.
If you prefer the harvest over time, or indeterminate type, you are going to have to prune them. Cages won't really be that good because the sprawl of the plant will overrun the cage and the cage won't provide enough support for the outer branches. First there are leaves on the plant that don't and won't set any fruit. These are "sucker" leaves. If you look closely, they are just plain small branches with leaves, but no flowers. These need to go first, BUT - if they are shading fruit below them, leave them be. Better to have the sucker leaves shading then let the fruit bake in the sun.
You will have to cut branches that have flowers and even set fruit. It's hard to do, but if you want to grow indeterminate, you will have to get used to it. The goal is for you to decide the size of the plant, not the plant itself. The plant will recover after you prune, prune, prune. Stake the main stalk, then tie the branches you wish to keep to the main support. It will look silly for a day or two, but the plant will recover and you can keep it under control.
As far as herbs go . . . Basil doesn't need to be harvested from the bottom, there is no advantage to this. Harvest from the top, take the youngest, sweetest leaves. Pinch off any flower stalks that are trying to grow and you're good. Basil is an annual so will have to be replanted every year. Basil loves heat and water and will grow seemingly out of control. Let it go! It's heaven to walk into your garden and close your eyes and breathe deeply. Basil, oregano, thyme, a little rosemary is indescrible.
Rosemary is part of the evergreen family. If planted in the right location it will actually grow into a bush given enough years. ( Rosemary is a perinnial and as long as you don't live in an extremely cold climate, should live as long as you maintain it. ) Again, no need to harvest from the bottom, clip from the top. You don't want "old" leaves in your sauces, stews and other meals. You want the freshest, sweetest and most flavorable available, and those are on the top of the plant. No need to prune or clip back the plant, let it grow.
As an aside, you want to harvest any vegetables or herbs first thing in the morning when it is still relatively cool and before the sun comes up. The plants are plumper and have more moisture then if you harvest in midday or later. Never harvest under a baking sun or after a rain. When some plant leaves are wet you can distribute disease and bugs that you are not aware of. Early morning is the only time to harvest.
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