Tilted greenhouse

Most commercial farming depends on harvesting fruit long before it's ripe, so this won't work there. For high-priced boutique fruit and personal farms, though, it should save a lot of work.

Buttress the trunk. Lay on the ground under fruit trees a thick layer of soft foam. Then tilt the whole tree with its soil sideways several degrees. Fruit then doesn't need to be picked, but will fall down and gently roll to a stop where it can be collected by hand or machine with hardly any bruised.

If the farm is small enough or the trees tall enough or the trees already planted on a slope or terrace you could just use foam much thicker on one side.