I've got a couple of pineapple guava relatively close to a queen palm plus some shrubs and no problems yet for either the fruit trees or the palm. Queen palm roots are noninvasive, they just go wide to anchor the tree.
My concern would be for the queen palm, depending on what you're growing. Those palms with non-invasive roots (not just queens but Washingtonia species as well, like the Mexican fan palms) can get throttled by some other invasive roots; the previous owner of my property accidentally killed two established adult palms by planting a willow acacia nearby that proceeded to throttle them, but those have REALLY invasive roots. Probably not gonna happen with most fruit trees.