01 - Using a sharp knife, lightly score the chicken thighs with shallow cuts to allow the marinade to penetrate deeply.
02 - In a large bowl, whisk together all marinade ingredients until well combined and smooth.
03 - Add chicken thighs to the marinade, coating thoroughly. Cover and refrigerate for at least 4 hours, preferably overnight for maximum flavor development.
04 - Preheat grill to medium-high heat (about 400°F). Oil the grates to prevent sticking.
05 - Remove chicken from marinade, letting excess drip off. Grill chicken for 6–8 minutes per side, or until charred at the edges and internal temperature reaches 165°F.
06 - Remove from grill and let rest for 5 minutes to allow juices to redistribute.
07 - Serve hot, garnished with lemon wedges and fresh cilantro.