Gather the ingredients.

Boil 1 ½ pounds yuca, peeled and cut into 1-inch chunks, in salted water until tender, about 30 minutes.

Drain yuca and place it in a serving dish. Set aside, but keep warm by covering bowl. Don't allow it to come back to room temperature while you make garlic sauce.

Combine 1 to 2 large red onions, thinly sliced, ¼ cup freshly squeezed orange juice (from about half an orange), ¼ cup freshly squeezed lime juice (from 2 limes), 1 tablespoon coarsely chopped cilantro, and 6 cloves garlic, minced, in a bowl. Pour mixture over yuca.

Heat ¼ cup olive oil, ½ teaspoon dried oregano, ¼ teaspoon ground cumin, kosher salt, and freshly ground black pepper in a heavy pan until hot, about 1 minute, being careful not to burn spices. Pour hot oil over yuca. Garnish with additional cilantro leaves and orange zest, as desired.