I'm guessing that you're in the US and have strange rules about eliminating nature from your gardens... I'd just leave them to it. Wasps actually do a really important job and most of the time they just go about their own business. This time of year is hard for them as their preferred food has gone so they seek sugar, any sugar to survive, but the windfalls won't last forever and then the wasps themselves will also be gone until the spring.
The only time I'd deal with wasps is if there was a nest either in my house or shed, or by a door that I need to use. They're fascinating creatures when you get a chance to watch them.
Enjoy the nature, there's not much of it around nowadays.
They don't want to sting you.
Pick the fruit up in the earlyish morning when it's cool. Do it carefully so you're not squashing any wasps that are about and you should be fine.
Move slowly and don't 'flap'.
Unless you have health problems a couple of stings are painful, but not that bad.
Not long ago I had a Queen wasp fall into my T-shirt resulting in five stings on my back. I dosed up on antihistamines and was OK in an hour or so. - yes, the wasp was captured and safely released.