We report an Yb-fiber-pumped picosecond optical parametric oscillator (OPO) delivering high average power in excellent beam quality throughout the mid-infrared (mid-IR). Using MgO:PPLN as the nonlinear crystal and configured as a singly-resonant oscillator in the mid-IR idler wave, the OPO provides up to 3.5 W average power in high spatial quality with M2<1.8 across a continuous tuning range of 4028-2198 nm, with M2<1.5 at 4000 nm. It can also deliver as much as 4.3 W of signal power in an output beam with M2<1.4 across 1446-2062 nm. The extracted idler exhibits a passive power stability better than 0.46% rms over 1 hour across the entire mid-IR tuning range. We have also investigated OPO cavity length detuning behavior about the zero-group-velocity-mismatch crossing point and its effects on output power.