Many trees that produce berries don't cause any problems. You need to avoid the likes of elderberry, but sorbuses, hollies, cotoneasters (the tree forms such as 'Cornubia' ) and the amalanchier mentioned by Lilylouise don't drip sap and don't drop soft berries that stain.
Elderberries are the worst for berries because the birds eat them and then drop purple poo away from the tree.
Lime trees, maples, walnuts are some of the worst for dripping sap.