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Step 1
Heat oven to 425 degrees. In a medium bowl, combine 1/4 cup oil and grate in 2 garlic cloves using a zester. Add the carrots and toss to coat. Lightly season with salt and black pepper and transfer to a sheet pan, reserving the garlic oil in the bowl. Add the chicken to the bowl and coat with the remaining garlic oil. Arrange in a single layer on the sheet pan skin-side up between the carrots.
Step 2
Roast until carrots are tender, and chicken is cooked through with crispy skin that’s browned in spots, 35 to 40 minutes.
Step 3
While the chicken cooks, in a food processor or blender or using a mortar and pestle, combine the avocado, jalapeño, vinegar, lime zest and juice, remaining garlic clove, half the chopped parsley and cilantro, 1/2 teaspoon salt and 1/4 teaspoon black pepper. Purée or pound into a coarse mixture. With the machine running or while mixing with a pestle in a mortar, slowly drizzle in the remaining 1/4 cup olive oil and 1 tablespoon room temperature water. Purée or stir until the sauce is smooth and creamy. Taste and adjust the seasoning with additional salt if necessary. The sauce can be made a few hours in advance and refrigerated in an airtight container.
Step 4
Scatter the remaining 1/2 cup each parsley and cilantro over the chicken and carrots. Transfer to individual plates along with any pan juices. Spoon a few tablespoons of the guasacaca sauce on the side for dipping. Serve warm with additional sauce on the side.