In a large bowl, combine the minced garlic, paprika, cumin, oregano, salt, black pepper, olive oil, white vinegar, lime juice, and honey. Whisk together until well blended to create a marinade.
Add the chicken thighs to the marinade, ensuring they are fully coated. Cover the bowl with plastic wrap and refrigerate for at least 2 hours, or overnight for best flavor.
Preheat your grill to medium-high heat.
Remove the chicken from the marinade and let any excess drip off. Discard the remaining marinade.
Place the chicken thighs skin-side down on the grill. Cook for about 6-8 minutes, then flip and cook for another 6-8 minutes, or until the internal temperature reaches 165°F.
Once cooked, remove the chicken from the grill and let it rest for 5 minutes.
Garnish with fresh cilantro before serving.