I have never seen something like this, inside any fig. See a snapshot on the left part - edge.
As I open it, it appeared from the pulp. It was very agile.
Acted as a worm in the pulp but then got onto the edge of skin and I noticed legs as I zoomed the snapshot.
(The same happened in autum in one fig from the maincrop but that time I assumed it was only sort of worm and I did not take the photo).

What could it be?
Zone 6-7,

Hi,
Hard to say without a top view of the beast.
My 2 cents on a larvae of a shield-bug - they have 5 stages of evolution and that would be a stage one or two .
Those damn things are on the peaches and tomatoes this time of year.
Because they are sting and suck bugs they leave marks/scars on the fruits.

I always cut open the figs by the middle before eating them.
Here, we can easily have to catapult some ants out of the fruit before gobbing it .
Yesterday inside a half eaten fig (birds, ants), there was a yellow jacket...

There are quintillion insects and that's just in the U.S.  and they are doing all sorts of jobs for nature.

My motto; If the fruit is healthy enough for the bug its good for you.

Personally I use Oraganza bags tightly applied on special figs so I don't have to share with them.

I can deal with fig wasp remains as inavoidable, but live worms etc...?
Looks like I'll be buying organza bags! lol