I have a harrow which works great for cleaning up branches.
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drag harrow 1a.jpg
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This is a picture of it being used to to shave ice so it's not so slippery but I've used it to clean up branches too. You just drag it through the grass till the tines are full. Then drag the branches to where you want them and lift the 3 point. Repeat till your lawn is cleaned up. There is very little handwork involved. Maybe rakeing branches away from tree trunks and the odd small branch that gets missed.