In a mixing bowl, combine the roughly chopped garlic, extra virgin olive oil, honey, low sodium soy sauce, Worcestershire sauce, Dijon mustard, ground cumin, kosher salt, cayenne pepper (if using), lime juice, and lime zest. Use a whisk or fork to mix thoroughly until all ingredients are well combined.
Place the chicken thighs in a large resealable plastic bag or a shallow dish. Pour the marinade over the chicken, ensuring each piece is well coated. If using a bag, seal it tightly and massage the marinade into the chicken. If using a dish, cover it with plastic wrap. Allow the chicken to marinate in the refrigerator for at least 30 minutes, but for best results, let it marinate for 2 to 4 hours or even overnight.
When you're ready to cook, preheat your grill, oven, or skillet. Remove the chicken from the marinade, allowing excess marinade to drip off. Grill or bake the chicken until it reaches an internal temperature of 165°F (75°C) and is cooked through, about 6-8 minutes per side on the grill or 20-25 minutes in the oven at 400°F (200°C). Let the chicken rest for a few minutes before slicing.