In a bowl, add the zest and juice of one orange. Add maple syrup, cinnamon, ginger, and cloves, whisking to combine. Set aside.
Peel and separate mandarin oranges into slices and place in a large bowl along with the chopped walnuts. Cube apples and pears into bite size pieces and add to the bowl. Immediately pour dressing over fruits and toss until evenly coated.
Serve immediately or store covered in the refrigerator until ready to serve.