Although we cannot give you a definitive answer without a photo or sample, we do have a few ideas that you can investigate further.
Cedar Waxwings are known to prefer the fruit of Pyracantha (firethorn), Crabapple and Hawthorn trees. All these are members of the Rosaceae family and produce a pome fruit that can be red, orange or yellow. They all have similar, very typical flowers in the spring as well.
Because of the size of your tree, it is more likely to be a small crabapple or hawthorn than a firethorn (which would not likely be hardy in your area and is more like a shrub than a tree). There are species of crabapple and hawthorn are native to Minnesota and many ornamental cultivars that would be hardy (and have yellow fruit) as well.
You describe the leaf as becoming palmate as it matures, so that would lead me to guess that your tree is a hawthorn cultivar (have a look at this image of the Downy Hawthorn leaf, and this one) as there is not that much variation in the crabapple tree leaves. If your tree has thorns, it is a hawthorn: if it doesn't, it could still be. There have been quite a few thornless cultivars developed for the landscape trade, as the native tree has quite deadly thorns!
Good luck identifying your tree!