Prepare the marinade by combining orange juice, lime juice, olive oil, garlic, smoked paprika, achiote paste, cumin, oregano, white vinegar, salt, and pepper in a bowl. Mix well.
Cut the chicken in half by removing the backbone and cutting it into two sides. Optionally, remove the wing tips for a neater appearance.
Make small cuts in the chicken pieces to help the marinade penetrate better. Place the chicken in Ziploc bags and pour the marinade over them, ensuring it coats all sides. Marinate in the refrigerator for 1-4 hours, turning occasionally.
Preheat the grill to medium-low heat. Grill the chicken, flipping and brushing with reserved marinade until cooked through and nicely charred, about 10-15 minutes per side.
Once done, let the chicken rest for a few minutes before serving. Enjoy the flavorful and tender Pollo Asado!
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