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Many citrus varieties are ready to harvest in January, including navel oranges, Satsuma tangerines, and Ruby Red grapefruits.
If you're growing other varieties, do a little research to confirm the best time to harvest them.
To pick fruits from the tree, just use a pull-snap-twist motion. Remember to taste one or two fruits for ripeness before you harvest the whole tree, since citrus fruit will not continue to ripen after they've been picked.
Wash the fruit when you're ready to eat them but not before. This preserves their natural wax and prevents them from drying out.
A neat trick is that you can also store ripe fruit on the tree for a few months. They usually get even sweeter, and you'll be able to enjoy fresh, homegrown citrus for a longer period of time.