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Add garlic, peanut butter, broth, chicken, zucchini, soy sauce, sugar, and red pepper to slow cooker. Stir to combine.
Cook on low for 4-5 hours or on high for 2-3 hours. A half hour before you are going to serve, add in lime juice and 1/2 cup of cilantro.
Serve over noodles and garnish with remaining cilantro and peanuts.