Make the marinade: In a large container, marinate the chicken in garlic, apple cider vinegar, salt, pepper, cilantro, and olive oil. Squeeze the oranges and limes and add them to the marinade. Cover tightly and place in the fridge for at least 2 hours but up to overnight.
One hour before frying, take the pieces out of the fridge, pat dry thoroughly, and let come up to room temperature. Preheat your oven to 350 degrees.
Create dredging stations: in one bowl, whisk the eggs and milk; in another bowl, mix your breadcrumbs with flour, granulated garlic, and salt.
In a deep pot with a thermometer attached, allow your oil to reach 375 degrees. Meanwhile, coat the chicken pieces in the egg mixture and then dredge in the breadcrumbs. Repeat once for an extra thick coating.
Fry 2–4 pieces of chicken at a time and cook for 5–7 minutes (turning halfway) until the coating is golden brown. Transfer the chicken to a wire rack placed over a sheet pan and bake in the oven for about 5–10 minutes or until the chicken reads 165 degrees on a thermometer.