In a mixing bowl, whisk together orange juice, lemon juice, olive oil, minced garlic, paprika, cumin, oregano, salt, pepper, and vinegar until well blended. Add the chicken, coating thoroughly with marinade. Let marinate for 20–30 minutes at room temperature or up to 8 hours in the fridge.

Heat olive oil in a large skillet over medium-high heat. Add the marinated chicken, searing thighs for 4–6 minutes per side or breasts for 3–4 minutes per side until deeply browned and internal temperature reaches 165°F. Transfer chicken to a plate and let rest for 5 minutes.

In a separate skillet, heat olive oil over medium heat. Add sliced zucchini, cooking undisturbed for 2 minutes. Toss zucchini and continue for an additional 2–3 minutes until tender-crisp. Stir in shallots and minced garlic, cooking for 30–60 seconds until fragrant.

Off heat, mix in fresh lemon juice and zest, sprinkle black pepper and chopped parsley into the sautéed zucchini. Toss gently to combine.

Plate the Asado Chicken next to the Lemon Zucchini Sauté, drizzling any juices from the chicken over the top and garnish with lemon wedges and flaky salt.