This article suggests 3/4 to 1 inch water every 10-14 days for established Azaleas:
http://homeguides.sfgate.com/w...
You can measure how much water they're getting from the sprinkler by setting a can or dish with straight sides on the ground near them.
Your Azaleas would probably also benefit from any type of mulch (including leaves) to help hold in the water; plants dry out more quickly on slopes.
I wouldn't prune them right now because you'll be pruning off the buds for next year's flowers.
