Difference between ‘put’ and ‘leave’
Leave the apricots to soak for 20 minutes.
Put the apricots to soak for 20 minutes.
The first expression is quite normal and idiomatic. It is telling you that you don't need to do anything while they are soaking. You can "move away" (leave) and do something else.
You could say "soak the apricots for 20 minutes" with almost the same meaning.
The second expression is not idiomatic. Perhaps you mean "Put the apricots in a bowl, and soak them for 20 minutes", or "Put the apricots to soak for twenty minutes in cold water" Here "Put" is part of the phrase telling you where to place the apricots (in a bowl, or in cold water). It is not idiomatic to say "Put the apricots..." unless you also have a phrase telling you where to put them.