We always wait for them to fall. Any time I've picked a nut from one of our
trees it's been immature. Another thing I've noticed is that the good ones fall free of the calyx. Any time I find one that's still attached, it's empty (squirrel decoy strategy? why else would the tree put so much
energy into growing a complete and full-sized hard shell when there's no embryo to protect?)
We don't have squirrels, though. We do have rats, and when they discover a nut that they like, it's game on. So far we lose a few walnuts and the majority of our macadamias to rat predation (I even try baiting the rat traps with freshly cracked nuts, but they're too wary). But they haven't yet figured out the hazelnuts...smell maybe?