I don't recommend that either.
It is called trespassing and theft if you take something that does not belong to you, whether it's fruit or something else.
This is a big pet peeve of mine.
I have had people actually pull into my driveway, park, get out with bag in hand to pick fruit off of my trees whereupon I must ask them to stop trespassing, get the heck off my property before I "loose de dogs." Only once in 10 years have I had 2 kids actually come and knock on the door to ask permission which I gladly gave as well as bags to carry the fruit.
It really pisses me off to find the soursop, mango's or avocado I was waiting to pick, eat and enjoy, gone.
When these people pay my property taxes, prune the trees, fertilize and take care of the grounds maintenance or ask permission, nicely, then I would consider giving them some.
The fruit on my trees do not go to waste as I share with family and friends, not total strangers trespassing on my property, stealing fruit.