I walk my dogs every morning and pass by orange, lemon, and loquat trees still full of fruit, some falling and rotting. There is a guy who as a huge pineapple guava tree, in the fall he just sweeps the fallen fruit into his yard waste pile for the city to pick up. I take fruit from peoples yard waste piles whenever I see it on top (provided it's not damaged for consumption).
A friend of mines parents have a truly awesome orange "bush". They have a gardener who just keeps whacking it down and it produces great oranges. One time he saw his Mom come home with store bought oranges and he asked why she didn't eat the ones off her tree. She said "Are those any good?"
She's been living there for over a dozen years......