I'm planning an unmanaged / untended forest garden and want to plant fruit trees for it, but the catch is that I need to be able to grow the trees from seed (and have them still produce fruit that's worth eating) and also let them grow wild without management. What sort of fruit trees should I plant? I'm on the California central coast, so freezing days are rare and it never gets very hot in the summer.
All the standard fruits that come to mind require grafting to get anything that tastes even marginally good.

That sounds like a really interesting project!
Have you looked up your USDA gardening zone? That will make your research a lot easier, because you can figure out what will grow in .
Also, is there a reason you want to start from seed rather than from cuttings? Most of the fruit varieties that are domesticated, even heirloom varieties, will either not produce true to type or will take a very long time to produce fruit if started from seed.
Cuttings from some fruit trees can be rooted and planted as "own root" trees, which makes for a sturdier, more disease resistant tree than a graft. From what I understand, the main reason grafting got started was to encourage the trees to bear fruit earlier, in three years or less, rather than five to ten. Seed Savers Exchange has a lot of members that trade fruit tree cuttings, either to graft or develop into own root.
For native fruit, you may be able to wildcraft and transplant a good portion of what you need. There should be edible plant field guides for your part of the country that will help you figure out what native fruits to look for. Your county extension service may be able to direct you to native plant nurseries, or advise you about the legal aspects of wildcrafting in your area.
Also, be aware that the taste of wild fruit can vary from bush to bush or tree to tree because of soil conditions or genetics. Both wild blackberries patches and persimmon trees are like that in our area - some are always good, others are downright nasty!