Several days ago, I found five really weird caterpillars on one of my small Meyer's lemon trees. They looked like truncated snakes with white and black stripes and patches that fell into a scale pattern and even false eyes. There was a kind of snake nosed hood that covered the actual caterpillar head and if you touched the hood gently with a grass blade, a red forked tongue feature would dart out. I tried to get the local extension agent to identify them for me, but they weren't familiar with them and advised me to kill them before they spread--especially since they were eating citrus. Late yesterday, the University of Florida Master Gardener got back to me and identified them as Orange Dog Caterpillars. They are the young of giant swallowtails that live on citrus. The interesting thing is that she said DON'T kill them.
It's also turned out that insects that riddle or de-leaf conifers serve a useful purpose, fertilizing the ground round the tree and enabling it to grow more leaves with the nutrients processed from the old leaves.
I just recently saw a couple of these on my small Meyers Lemon Tree. I think they are the same as you described. It was hot that day and when I flicked them with a leaf they fell off and when I looked later, they had disappeared.
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