You could scrub the fruit well with detergent to get off any wax, then rinse well and sanitize the outside before zesting.
I've zested grapefruit w/ just a quick wash for my grapefruit IPA with no problems on at least 6 batches...and I've used raspberries, jalapenos and peaches w/o boiling on at least 13 batches and haven't had any issues...
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