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What's (really) the difference between fruit and vegetables?

I was wondering what's (really) the difference between fruit and vegetables. Obviously I can name different fruits and vegetables, but if you ask me what's really the distinguishing factor, I wouldn't know.

Things that I think may be the difference are:

  • Taste: sweet or not
  • Historical reasons
  • Whether it is mostly eaten raw or cooked/baked

But for all of the above there seem to be some fruits/vegetables, for which it isn't clear under which category they fall. So, what's the difference between them?

Thanks in advance.