WARNING: Attempting to perform this glitch in a certain way can permanently alter the skill tree of a character. It's recommended use a copy of your save file if you don't want your save permanently impacted by a glitch.
The infinite skill tree upgrades glitch was discovered by MilsTailsPrower. It is executed by pressing A and B at the same time on one character's screen to attempt an upgrade. If done correctly, the prompt to upgrade should stay open and you should be in the character select screen. From here, use the L, R, and Y buttons to navigate to another character's skill tree.
The obvious implication of this glitch is that you can max out almost every character's skill tree, even if you don't have many skill orbs. There are a lot of minor nuances that aren't covered in this video. When you navigate to a different character's skill tree, you lose control of your menu movement. That means you can only upgrade skills that other characters have a corresponding tile for. One example of this is how Mario cannot max out his Stomp Jump damage unless you have Peach and Yoshi unlocked. Also, this glitch cannot be done in the Donkey Kong Adventure.