In a large bowl, whisk together orange zest, orange juice, lemon zest, lemon juice, olive oil, minced garlic, smoked paprika, cumin, oregano, salt, black pepper, and vinegar. Add the chicken thighs, ensuring each piece is coated. Marinate for 20-30 minutes.

Heat a large skillet over medium-high heat. Add the marinated chicken, searing for 4-6 minutes per side until golden brown and cooked through. Remove and let it rest for 5 minutes.

In the same skillet, pour in the reserved marinade and simmer for 30-60 seconds until thickened. Pour the sauce over the rested chicken.

In a clean skillet, heat a tablespoon of olive oil and a pat of butter over medium heat. Add zucchini slices and cook for about 2 minutes undisturbed, then toss and cook for another 2-3 minutes until tender-crisp.

To the sautéed zucchini, stir in minced shallots, minced garlic, lemon juice, lemon zest, and chopped parsley. Cook for an additional minute.

Plate the Asado Chicken alongside the sautéed zucchini. Drizzle any remaining juices over the chicken and garnish with lemon wedges and flaky salt.