In a large bowl, combine the minced garlic, lime juice, orange juice, olive oil, soy sauce, Worcestershire sauce, cumin, smoked paprika, chili powder, dried oregano, salt, and pepper. Mix well to create the marinade.

Place the skirt steak in a shallow dish or a resealable plastic bag. Pour the marinade over the meat, ensuring it’s evenly coated. Cover the dish or seal the bag and refrigerate for at least 2 hours, or preferably overnight, to allow the flavors to penetrate the meat.

Preheat your grill or stovetop grill pan over medium-high heat. Remove the marinated skirt steak from the refrigerator and let it come to room temperature.

Grill the steak for approximately 4-6 minutes per side, or until it reaches your desired level of doneness. Remember to flip the steak only once to develop a flavorful crust.

Once cooked, transfer the skirt steak to a cutting board and let it rest for a few minutes. This step allows the juices to redistribute and ensures tender, juicy meat.

Slice the skirt steak against the grain into thin strips. Warm the corn tortillas on the grill or stovetop.

Assemble your tacos by placing a few slices of skirt steak onto each warmed tortilla. Top with diced onions, chopped cilantro, salsa, guacamole, and a squeeze of lime juice.