an important skill for a frugivore is the ability to climb trees. in spite of our non-prehensile feet, humans are capable of impressive tree climbing skills, using various techniques, many of which are used by other primates.
it seems very untrue that humans are not capable of efficient climbing. there is nothing in our physiology deterring us from the trees.
here's a great video i found demonstrating the latent arboreal skills we humans possess, but sadly, most never discover.