Fallen Fruit - Free Fruit

There is a Fallen Fruit organization, mostly in the Los Angeles area, where they have developed maps where fruit trees grow on public property. They recommend picking the fruit before it is wasted. Take a look at their Endless Orchard Program and perhaps look into developing maps for your neighborhood. But please don't just help yourself to fruit on private property. We have lots of peach trees and pecan trees in our neighborhood where people just show up and steal the produce. You could, however, respectfully ask if you may pick the fruit and leave some of what you have picked for the homeowner.  Go to parks or look at neighborhood Facebook pages where people will often advertise for neighbors to come and take fruit. Nextdoor is another great place to either advertise or share fruit.
It's a good idea to get to know your neighbors anyway. If there are a number of fruit trees in your neighborhood, suggest a fruit picking day where you can share produce.