Now that you have plenty of fruits, sample them twice a week. the moment they changed color to until they start dropping. One of those week, it would be great tasting, that is the moment to harvest them.
My tangelo has a narrow window of good flavor, based on my own taste tracking. Just about two weeks only. Before the peak flavor, they're sour, and after the peak flavor, they're bland.
another thing is that your rootstock may be a lemon or grapefruit type or something that gives nice yield but poor fruit quality. You can try multiple rootstock technique if this is the problem on this one, using trifoliate or citrange types and bridge them into the main trunk.
But I'd prefer the multiple sampling. I wish I can say with certainty as to the timing, but we have different climate patterns. Our tangelos develop very dark deep orange color, and still they are not ready, until around 3rd week of January in my yard. FLorida's warm nights on the other hand, you can have ripe fruits that are still partially green.