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Place yuca into a pan and fill with enough water to cover. Stir in salt. Bring to a boil over medium-high heat, cover, and cook until tender, about 15 minutes. Drain; place yucca on a serving plate.
Meanwhile, place olive oil, onion, garlic, and lemon juice into a pan. Cook over medium heat for about 5 minutes. Pour the hot olive oil mixture over the yuca; serve immediately.