In a mixing bowl, whisk together orange juice, lemon juice, olive oil, minced garlic, smoked paprika, cumin, oregano, black pepper, and vinegar until well combined. Add the chicken thighs, ensuring they are fully coated in the marinade. Let sit for 20–30 minutes or refrigerate for up to 8 hours.

Heat a large skillet over medium-high heat and drizzle a thin layer of olive oil. Remove the chicken from the marinade, shaking off excess. Sear the chicken for approximately 4–6 minutes per side until browned and an internal temperature of 165°F is reached. Let rest for 5 minutes.

In the same skillet, pour in the reserved marinade, scraping up any browned bits. Simmer for 30–60 seconds until slightly thickened. Drizzle the sauce over the seared chicken.

In a separate skillet, heat olive oil over medium heat. Add the sliced zucchini and cook undisturbed for about 2 minutes. Toss zucchini to ensure even cooking for another 2–3 minutes until tender-crisp.

Stir in chopped shallots, minced garlic, lemon juice, and zest. Cook for another minute, adjusting seasoning with salt and pepper as needed.

Plate the chicken alongside the sautéed zucchini, spoon any remaining glaze over, and garnish with lemon wedges and fresh herbs.