Pollo a la Brasa (Peruvian-style Roasted Chicken)

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1. 1Step 1: Blend the garlic, soy sauce, Worcestershire sauce, lime juice, lime zest, mustard, honey, cumin, paprika, salt, pepper, and oil in a blender. Place the chicken in a large sealable bag and pour in the marinade, then move the chicken around to ensure all the pieces are coated. Seal the bag and refrigerate for at least 4 and up to 24 hours. Turn the bag occasionally to ensure even marinating.
2. 2Step 2: Heat the oven to 450ºF and set a rack in the middle. Line a baking sheet with foil and set a wire rack on top (you can also lay chicken directly on the foil if you want). Remove the chicken thighs from the marinade set them on the tray with a little room between each piece. Drizzle about a teaspoon of the marinade over each piece.
3. 3Step 3: Roast the chicken until the skin is golden and the temperature at the thickest part reaches 165ºF on an instant read thermometer, 30 to 40 minutes (if using breasts, check them after 20 to 25 minutes). Remove from the oven and let them rest, covered loosely with foil, for at least 5 minutes before serving.
4. 4Step 4: While the chicken is cooking, make the sauce. In a blender or food processor, add the cilantro, jalapeños, garlic, lime juice, scallions, salt, mustard, aji amarillo paste, honey, and cumin. Blend until smooth. Add the mayonnaise and blend until just mixed. Taste and adjust with salt or lime juice, as needed.
5. 5Step 5: Serve the chicken with the sauce and lime wedges on the side.