I have no experience with Adenia, but I can offer some info from my go-to reference book for caudiciforms, Pachyforms (a 2-book set by Philippe de Vosjoli which I highly recommend).
A. glauca may be grown from seed or from cuttings. The former may develop a globose caudex (given the right treatment), the latter will only develop "pachycaul proportions". I don't know what you have, but this information may help guide your expectations for its form. De Vosjoli recommends pinching the tip at an early age and says "pruning practices will determine the branching pattern and form of seed-grown plants".
Now what specifically that means for you is not clear to me, but I would think the best time to pinch would be fairly early in the growing season, to the extent young plants may not actually experience dormancy. I guess we're still in late spring and that would qualify, but I cannot advise where or how to cut.
Can you contact the source you got the plant from, and see if they might be able to give specialist advice?
I would avoid pruning the roots at this stage, or pretty much ever, unless there's some compelling reason related to pot dimensions upon repotting. The form you desire is mostly accomplished through your actions above ground. It kind of depends on how much of a risk you're willing to take, but from what I've read I don't think that risk is particularly high with pruning this plant, when it's going strong to start with.
