My trees are not tall so it doesnt hurt them in anyway. Dont seem over ripe to me, but what do I know. My haydens are nice and dark orange in the middle, super juicy and soft (but not mushy) when they hit the ground.
I think leaving them on the tree as long as you can gives them more flavor. To me what is the point in picking it, then leaving it on the counter 2-3 days to ripen more when you could just leave it on the tree those extra couple days. My haydens gets super bring orange/pink those last few days and I think taste better. Could just be me.