In small saucepan, combine lime juice, sugar, allspice, cloves and cinnamon stick. Split vanilla bean in half lengthwise; add to saucepan. Bring to a boil over medium-high heat to dissolve the sugar. Reduce heat to medium; simmer, stirring occasionally, 5 minutes. Remove from heat; let syrup cool slightly.
Place the pineapple in a large glass serving bowl. With sharp knife, cut off rind and white pith from one grapefruit. Cut into separate sections, discarding membranes and seeds. Place in serving bowl. Repeat with other grapefruit and navel oranges. Add grapes.
Pour the lime syrup through a strainer over the fruit in the bowl. Discard solids in strainer. Gently stir the fruit to evenly coat with the syrup. Cover the bowl tightly with plastic wrap; refrigerate overnight. Gently stir fruit before serving. Makes 8 servings.