Soft end-effectors that can pick delicate produce without bruising are pivotal for agricultural robotics yet remain hampered by limited load capacity and uneven force sharing. We present HSA-TriGrip, a lightweight three-finger gripper whose fingers each combine two handed shearing auxetic (HSA) modules in a gear-coupled arrangement. A single motor drives all fingers via one fishing line tendon; local slip inside the finger connectors yields a passive differential that equalizes travel and grip force. Thin-film force sensors are integrated on the inner phalanges to measure gripping pressure. The 715 g prototype—of which the distal gripper accounts for only 21 %—maintains an aggregate grip of \(\approx \) 130 N after a 40-cycle run-in and endures 100 fatigue cycles at 96 % of its initial capacity. With tendon slip enabled, pull-out resistance reaches 168 N (29 % above the locked mode) and all three fingers engage. These results confirm that coupling auxetic actuation with passive tendon differentials delivers a self-balancing, bruise-mitigating grasp suited to field harvesting.