Asking strangers if I can pick their apples

when i lived in los angeles, a man used to drop by to ask if he could pick our yard's persimmon tree. being north east coast gringos we happily said yes, since we had no clue what to do with them.

due to physical disability, i do all my foraging within a few blocks of my house in the village of saugerties - and i do GREAT.  mulberries, nettle, chickory, wood sorrel, garli mustard, different docks, wild grape, plus lots of things to make medicine out of.  i have noticed that my some of my neighbors have apple trees that seem to be decorative.  last fall i didn't notice them pick any, but watched other animals eat them.

in vermont when we always grabbed apples from forgotten orchards hidden in the hills.  this is the first time i'd have to ask permission.  has anyone found th best way to this?  these are not direct neighbors so they don't know me.  also one is an abandoned house on a main highway that has fallen in - so there is no one to ask, but i'd be very visible in my trespassing to lots of traffic.  as a teenager that wouldn't have bothered me, but at age 40 and unable to run.... well.  :)  and the other is in front of an apartment building, so i have no idea who to talk with.

any suggestions?