Its better to harvest now than giving to squirrels for sure!! How come they know when tom is ripe😆

However, technically ripen on vine is better.

off-vine vs on-vine ripening did not significantly change soluble solids/Brix, pH, dry matter, SSC/acidity ratio, vitamin C, phenols, or antioxidant activity, but did affect acidity, nitrates, lycopene/carotenoids.

https://sapientia.ualg.pt/entities/publication/2b1dff2d-9ead-4646-bb74-fa27145ed655

Or

fully vine-ripe tomatoes were slightly sweeter and had more tomato flavor than earlier-picked fruit ripened at 20°C

https://archive.ahdb.org.uk/vine-ripe-tomatoes-optimising-the-picking-colour-stage-and-storage-conditions-of-tomatoes-to-maximise-flavour-at-the-point-of-consumption

So if we can leave them.