In a blender, combine chipotle peppers in adobo sauce, fresh lime juice, fresh orange juice, cilantro, garlic cloves, quartered onion, cumin, dried oregano, smoked paprika, salt, and pepper. Blend until smooth.

Place the boneless skinless chicken thighs into an airtight container or resealable bag. Pour the freshly blended marinade over the chicken, ensuring each piece is well-coated. Seal and refrigerate for at least 15-30 minutes, ideally overnight.

Preheat your grill to medium-high (350°F-400°F), heat a skillet on medium-high, or set your air fryer to 400°F.

Grill the marinated chicken thighs for 15-30 minutes, flipping halfway through, until internal temperature reaches 165°F.

For pan searing, drizzle olive oil in a preheated skillet, add the marinated chicken, and some marinade; cook about 8-10 minutes total, flipping halfway through.

For air frying, arrange marinated chicken thighs in a single layer and cook for approximately 14-15 minutes, flipping halfway.

Let the cooked Pollo Asado rest for about 5 minutes before slicing to allow juices to redistribute.

Slice the rested Pollo Asado and serve with warm tortillas, cilantro lime rice, or a fresh salad.