We have donated fruits and vegetables to several non-profits, subscription farms, and even neighborhood restaurants over the years. It's been a piece of cake in Portland, Oregon to do this.

Urban gleaning is becoming popular, but you would have to tolerate other people picking your grapes.

I was watching YouTube videos on gleaning. I've never heard of that anywhere around here.
I guess the desire for perfection is from whoever is running the local shelters and not the way it is everywhere. They either don't know what homegrown food looks like or they don't trust people to drop food off without some nut trying to poison. Maybe the shelters don't want to have to wash like you do with homegrown that hasn't been factory washed. But there is some reason they discouraged it.

I don't think that was from the more local food pantry and that may be better for grapes because spread out in everyone's crisper bins they could keep for a long time and reach more people.

I glean in my own fields. At harvest the good quality goes to the farm stand. then I tell people at work to bring their buckets.I haven't noticed a taste difference in a 3 headed potato yet.

I take all my excess to Catholic Charities. They are very appreciative.

In our church, if people have extras, they just set it and some plastic shopping bags in a box in the lobby and people can take what they want. Normally it's cucumbers, zucchinis, or tomatoes, but occasionally other items. It saves the bother of having to take the extra produce to some particular location, since we are going to church twice a week anyway. Northwoodswis

We have a local Caring Ministry that I give some produce to.

I give pretty decent stuff and they appreciate it.

A lot of folks who get food from the Caring Ministry don't have enough land to grow any food themselves, so they appreciate getting home grown tomatoes, peaches, green beans, etc.

I'm careful not to take culls, but only produce I'd have no problem eating myself.

We share our garden with another family and we grow more than two family's can eat, so that we can donate to the local food bank.
There has never been a problem. We donate a third of our produce.

I work in a church garden (about 8 churches in area have gardens for several food programs). Can only speak from experience here:
Most churches do not have the equipment (fridges, storage) to take raw produce that often has no shelf life..
We pick & take directly to a central food kitchen.
Our Ag Extension Agent is helping to coordinate community gardens, individuals, farmers, and the non profits to distribute- but it's tough to deal with a few people a week showing up with bags of cukes and tomatoes.
Ours is a small church garden, 5 beds, but we raised 600 lbs of beans, tomatos, peppers, eggplant, squash-and all was used.
The very large orgs get almost 100% from grocery chains & manufacturers, and are more like food wholesalers - they can't deal with tiny donations - manpower, equipment, etc, and often don't deal in produce (perishable) at all.
Start with your Ag Agent, then churches.
We also could just drop off in smaller qty at some of the half way houses.
Check out the American Community Gardening Association.

In my small town, freecycle.org has been perfect for passing on bruised apples and pears to people who can and dry. Sometimes I'll drop it in town, or let families come help pick it up (one of our apple trees throws its ripe fruit on the ground). I tell them to bring bags and boxes, and so far it's been nice. It's a good Sunday afternoon when a family comes and helps pick fruit, then goes home with armloads of herbs and flowers, too. Saves me the trouble of sorting and washing when I have the least time for it.

Have a look at Fruitshare. We set this up last year to help bring together private individuals with surplus orchard fruit with others in their local area who might have a use for it.

Here is a link that might be useful: Fruitshare