Dear Karen, you have a challenging problem. Are you certain it is raccoons taking your figs rather than crows, ravens, opossums, neighbors? If raccoons, you have a formidable adversary/competitor. Check for tracks.
You can trap some of them, using a large Tomahawk or other live catch trap. Transporting them and releasing them elsewhere is unlawful in California, and rightfully so, as any area suitable for raccoons already has them, and the new comer will surely have a hard time. You will be passing on the problem not dealing with it. Trapping and killing them is a partial solution, like crime, you can keep it down to a tolerable level but it will never end, they will replace lost soldiers... and some are too smart to be trapped in a live catch type trap. Think this through, as you can not afford to bitten or scratched, raccoons have a few diseases of concern, and are tough and strong and defensive when caught/cornered. You can PM me if you need to know how to euthanize them. Wear tough gloves and long sleeves and think about what you are doing when dealing with a mad/scared raccoon in a trap.
Excluding them is best, but easier said than done. Electric fence might work well, but it looks like you are in a neighborhood, that might be problematic. Some folks have made clever use of water jets and rain birds, that react to a sensor when an intruder enters the area, and it might be worth looking into. Works on deer, not sure about 'coons. They are so smart, they may learn to adapt to it. If you fenced the yard, an average terrier type dog might keep the 'coons away, but of course having a dog is a responsibility you may or may not want.
If you want to do it right, you might want to contact your Cal Fish & Wildlife, they may issue a depredation permit or advise you. Or do as the old timers say..."shoot, shovel, shut up". Be discreet, keep traps out of public view, as they may be vandalized or stolen. This topic is controversial, some folks react emotionally and do not address the issue, but will think you are the devil for taking what they regard "their" cute raccoons. Until they suffer a loss, they just won't understand.
Exclusion is always best, but not easy. Let us know if you succeed and how it goes, as most of us are likely to face this issue over time.
Raccoons are pretty fastidious, I wonder if putting tangle foot, an exceedingly sticky resinous product made for excluding insects/ants would keep them from climbing up the trees? Of course you will have to train your figs to be trees rather than bushes, having a single trunk...
Good luck, Vic