Step 1: Prepare the Marinade: In a large bowl, whisk together the orange juice, lime juice, apple cider vinegar, minced garlic, olive oil, cumin, oregano, chili powder, smoked paprika, salt, and black pepper. The mixture should be homogenous.
Step 2: Marinate the Chicken: Place the whole chicken in a large resealable bag or container. Pour the marinade over the chicken, ensuring it is fully coated. Seal the bag or cover the container and refrigerate for at least 4 hours, or preferably overnight, to allow the flavors to penetrate the meat.
Step 3: Prepare the Grill: Preheat a grill to medium-high heat (about 375F or 190C). Ensure the grill grates are clean and lightly oiled to prevent sticking. This prevents skin from sticking to the grates.
Step 4: Grill the Chicken: Remove the chicken from the marinade and discard the marinade. Place the chicken on the preheated grill, breast side up. Grill for about 30-35 minutes, turning occasionally, until the internal temperature reaches 165F (74C) in the thickest part of the thigh. Using a meat thermometer prevents undercooking.
Step 5: Rest the Chicken: Remove the grilled chicken from the grill and place it on a cutting board. Tent loosely with foil and let it rest for 10-15 minutes before carving. This allows the juices to redistribute, resulting in a more tender and flavorful chicken.
Step 6: Carve and Serve: Carve the chicken and serve immediately with your favorite Mexican sides such as rice, beans, warm tortillas, and salsa.
Optional Tips and Substitutions: For a spicier version, add 1-2 chopped chipotle peppers in adobo sauce to the marinade. If grilling is not an option, the chicken can be roasted in a preheated oven at 375F (190C) for about 1 hour and 15 minutes, or until the internal temperature reaches 165F (74C).