MN Fruit for Part Sun and/or Shade

Hi All im in the Twin Cities area in MN and looking to add some fruiting trees or shrubs to my yard. I already have some raspberries and want to produce more food at home. Here are some of the basics that im working with.

Non invasive (im okay with non native or native)

Taste good for kids raw off the plant (I dont want kids getting sick if they eat a fruit that hasn't been cooked or altered)

Less than 20 ft tall

Part sun and/or shade production due to the tall trees around us

Decent form that would look okay in a front yard (no messy thicket look since I have that in my backyard)

Im open to anything thats hardy and fits these requirements

Excited to hear what plants might fit this.