In a blender, combine garlic, shallot, salt, orange zest, lime zest, cumin, oregano, black pepper, orange juice, lime juice, and olive oil. Blend until smooth to create the mojo marinade.
Place chicken thighs in a large resealable bag or bowl. Pour the marinade over the chicken, ensuring all pieces are well-coated. Seal or cover and refrigerate to marinate for at least 1 hour, preferably overnight.
Preheat your grill to medium-high heat and lightly oil the grates. Remove chicken from the marinade, letting excess drip off.
Grill the chicken for about 6-7 minutes on each side, or until the internal temperature reaches 165°F.
Let the chicken rest for a few minutes before serving to allow juices to redistribute.