In a blender, combine chipotle peppers in adobo sauce, fresh lime juice, and orange juice to create a zesty base. Add fresh cilantro, minced garlic cloves, quartered onion, cumin, dried oregano, smoked paprika, salt, and pepper. Blend until smooth, making sure all ingredients are well incorporated.

Place the boneless skinless chicken thighs in a resealable bag or a container. Pour the prepared marinade over the chicken, ensuring each piece is evenly coated. Seal the bag or cover the container, then refrigerate for 15 minutes to 24 hours.

Preheat your cooking method: if grilling, heat grill to high (350°F-400°F); for pan-frying, heat a skillet over medium heat; for air frying, set air fryer to 400°F.

Cook the chicken: On the grill, cook for 15-30 minutes until internal temperature reaches 165°F, flipping halfway. In a skillet, sear for 8-10 minutes on each side. In the air fryer, cook for 14-15 minutes, flipping halfway.

Remove the pollo asado from heat and let it rest for about 5 minutes before slicing or serving it whole with your favorite accompaniments.