The fruit is best when ripened in the tree

Common fruits like the mango are usually ripened in the shelf. They are harvested earlier by a week before they turn ripe.  But that style is done for purposes of business since when the fruit is harvested by the time they are ripe in the tree then it cannot stay long in the shelf and the vendor will lose if the fruits get rotten.

In our home, I harvest the fruit when they are ripe already. The bananas need to show me at least one yellow banana before I harvest the bunch. That will assure me of mature bananas, all of them. Same with other fruits, I always pick them when fully ripe.