Fruit of my labor

I think the plural is better if you are speaking generally: "I finally got the fruits of my labor." If the thing you got was a single thing, the singular might be better.

I would not say I "got" the fruit(s) of my labor.

I think you'll find it most likely to see the verb "enjoy" with it.
I'm enjoying the fruits of my labor.
I've finished the garden and the flowers look beautiful. Come see the fruit of my labor.

How about using the verb "taste"? I finally got to taste the fruits of my labor. Thank you in advance.

Assuming you're talking about your "labor" being either cooking or growing vegetables (or other things to eat), yes. It's a little less metaphorical when it's actually food.