When to pick must be determined by experimentation. As the fruit ripen, the flavor changes. And we all have different preferences, which sometimes are hard to even describe.
This is true of most tomatoes.
One other note -- as the season/weather changes, the color associated with flavor profiles change as well. In other words, a color associated with maximal flavor (for you) may not remain constant over the course of a season.
I really think this is a situation where personal taste-testing fruits of different ripeness is much more valuable than the consensus in this thread.
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