Your description—small tree (near apple height), rounded triangular form, simple toothed elliptical leaves, green-to-reddish-orange fruit (≤2″) in early September, no thorns—strongly indicates flowering crabapple (Malus spp.).
Yes. Crabapples are non-toxic. Bitter taste prevents overconsumption. Larger-fruited varieties make excellent jelly. No adverse reactions expected from occasional sampling.
For definitive ID, compare spring flowers and fall fruit to local nursery specimens or extension resources. But all evidence points to crabapple.
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