In a medium bowl, mix together olive oil, minced garlic, smoked paprika, ground cumin, dried oregano, and salt and black pepper to taste. Add balsamic vinegar and lime juice and stir until well combined.

Rub the marinade onto chicken thighs, cover, and marinate for at least 30 minutes at room temperature or up to 4 hours in the refrigerator.

Heat a large skillet over medium-high heat. Add a splash of olive oil and sear chicken thighs skin-side down for 5-7 minutes until golden brown.

Flip chicken and cook for another 5 minutes. Reduce heat, cover, and cook for an additional 10-12 minutes until cooked through.

Transfer the chicken to a plate and let it rest. In the same skillet, add another tablespoon of olive oil and minced garlic, and sauté for about 1 minute.

Add sliced zucchinis, season with salt and pepper, and cook for 5-7 minutes until tender. Drizzle with lemon juice and sprinkle with lemon zest before serving.

Plate the Asado Chicken alongside the zesty zucchini sauté, garnishing with chopped parsley or cilantro if desired.