In a large mixing bowl, whisk together orange juice, lemon juice, olive oil, minced garlic, smoked paprika, cumin, oregano, salt, pepper, and vinegar. Add your boneless, skinless chicken thighs, ensuring they are well-coated in the marinade. Allow the chicken to marinate for 20-30 minutes at room temperature, or up to 8 hours in the refrigerator.

Heat a skillet or grill over medium-high heat and add a drizzle of olive oil. Once hot, place the marinated chicken thighs in the pan, searing for 4-6 minutes on each side. Look for a golden brown crust and an internal temperature of 165°F for perfectly cooked chicken. Let the chicken rest for 5 minutes.

In the same skillet, pour in the reserved marinade. Stir well and bring to a gentle simmer for 30-60 seconds until it thickens slightly.

In a clean skillet, heat a tablespoon of olive oil or butter over medium heat. Add the fresh zucchini and a pinch of salt, cooking undisturbed for about 2 minutes, then toss and cook for an additional 2-3 minutes until tender.

Once tender, add chopped shallots and minced garlic to the skillet. Stir for another minute until fragrant. Mix in fresh lemon juice, zest, parsley, and grated Parmesan cheese if desired.

Serve your Asado Chicken with Lemon Zucchini Sauté, slicing the chicken or serving it whole, garnished with lemon wedges and a sprinkle of flaky salt.