Can we walk to the field and pick apples? Or they take us in their own vehicle to the apple trees ?

You park in a designated parking lot. Go through to pick up the bucket/bag area then you are free to roam the orchard to pick apples.

You park, pick up a basket and walk to the trees.

You go to the designated area where they are picking. I would call and ask about masks in the areas. Some farms are requiring masks if you can't social distance.