In a large mixing bowl, combine the orange juice, lime juice, olive oil, white vinegar, minced garlic, cumin, smoked paprika, oregano, onion powder, chili powder, salt, black pepper, and cayenne. Whisk vigorously for about 30 seconds until the marinade looks slightly emulsified and smells fragrant.

Pat the chicken completely dry with paper towels. This step helps the marinade cling to the surface. Place the chicken in a large zip-top bag or a covered container.

Pour the marinade over the chicken, seal the bag, and massage it well so every piece is fully coated. Refrigerate for at least 1 hour, ideally 3 to 4 hours. Do not exceed 8 hours or the citrus acid will begin breaking down the meat texture.

Preheat your grill to medium-high heat, around 375 to 400°F. Lightly oil the grates to prevent sticking. Remove the chicken from the marinade, letting excess drip off, and discard the used marinade. Never reuse it.

Grill chicken thighs for 5 to 7 minutes per side, or chicken breasts for 6 to 8 minutes per side, until the internal temperature reaches 165°F and juices run clear.

Transfer to a clean cutting board and let the chicken rest for 5 minutes before slicing. Garnish with fresh cilantro and serve with lime wedges.