To collect fruit from trees in Story of Seasons, you need to pay attention to the tree's height and the fruit's ripeness. If the tree is short, you can simply reach up and pluck the fruit. For taller trees, you might have to use a ladder or a special tool provided in the game. Also, timing is important - collect when the fruit is fully ripe for the best results.
You can use ladders or climbing skills. Just find the right spot on the tree and carefully pick the fruit.