It's possible, but feat intensive
The Blood of the Beast player companion presents us with the Human Guise feat, which kitsune qualify for due to their Change Shape ability.
You count as both human and your race for the purpose of taking character options, such as archetypes, feats, spells, traits, and prestige classes.
This will allow your character to qualify for Racial Heritage (Human).
Choose another humanoid race. You count as both human and that race for any effects related to race.
Which, finally, allows you to pick Grasping Tail (Tiefling), or similar feats.
Its worth noting that Racial Heritage will allow you to count as any one humanoid race you want.
About Magical Tail, you certainly could grab more than one item, as the feat does not mention which tail has to do it. But do note that your character is only allowed one swift action per turn.
This changed with Planar Adventures
If your group is playing with Planar Adventures, the feat got reprinted (as pointed out in @Brandenfascher's answer) and its new requirement is simply that your character must have a tail, which kitsunes do. Everything else is unchanged.
Prerequisite(s): You must have a tail.
But note that the book didn't mention that this feat changes how Grasping Tail (Tiefling) works or that it replaces it. Which means that this is a different feat and tiefling characters may still use their racial feat instead.