
Leave the skin on the chicken thighs but remove the bones by cutting two slits along each side of the bone. Rinse the chicken with cold water and pat it dry with paper towels. Set aside.
In a large bowl, whisk all the Marinade ingredients until well combined, reserving some for basting. Add the chicken to the marinade, ensuring it is stirred and coated evenly. Marinate for at least 2 hours.
Fire up the grill and brush a bit of the marinade, along with garlic, cilantro, and jalapeño, on top of the chicken. Grill until the chicken is golden brown and charred on both sides. Serve immediately with fresh lime wedges.