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If using wooden skewers, soak 8 skewers in water for 30 minutes to reduce sticks burning over the heat.
Prepare the Satay Dipping Sauce using this recipe. Once slightly thickened, take off heat and allow to cool slightly. Pour out 4 tablespoons of satay sauce into a large, shallow dish. Add the shrimp and coat evenly.
Preheat grill to medium / high heat, OR alternatively, heat a grill pan on stove top over medium heat.
Skewer 4 shrimp on each prepared skewer; arrange on a baking tray / sheet until ready to cook. Pour 2-4 more tablespoons of sauce over each skewer, rotating in the sauce to completely cover the shrimp.
Pour out about 4 tablespoons of sauce into a bowl for basting. Grill skewers for about 2-3 minutes per side, basting with all of the separated sauce from the bowl before rotating, until just cooked through and no longer transparent. (Be careful not to overcook them or they become rubbery).
Transfer onto serving plates and serve with the untouched dipping sauce. Garnish with cilantro leaves, peanuts, lime wedges and chilli slices!