Get better photos and provide an approximate location for a specific ID.

They are definitely caterpillars, possibly one of the tent caterpillars.

If the tree isn't too big, you can just remove them by hand. Some species lay eggs in a mass over winter and (if the tree isn't too big) you can knock off the egg masses before they hatch (that's for next year, after figuring out it it's appropriate for your particular critter). You can try to knock the cats off by spraying with a hose, but they might hang on too tightly.

If you need pesticides or other treatments, find one specific for moth larvae to reduce harm to non-target organisms. Keep it on the tree and don't let any airborne spray float onto other plants. If it's not blooming, the bees won't be visiting the fig much so it should be safe to treat anyway.

Since the fig leaves are not being carved up, that eliminates sawfly larvae.

Since the leaves are nor being tunneled, that eliminates the leaf-miners.

The whitish remnant webbing near the egg-mass hatchouts could indicate leaf-roller or leaftier moths (leaf-tier). Applications of Bt could be effective and are said to not be harmful to pollinator bees.