Bring a large pot of salted water to a boil.
Add the yuca chunks and cook for about 20-25 minutes, or until tender. Test with a fork; it should easily pierce through the yuca.
Drain and set aside.
In a small saucepan, heat the olive oil over medium heat.
Add the minced garlic and cook until fragrant, about 1 minute. Be careful not to burn the garlic.
Stir in the lime juice, orange juice, cumin, oregano, paprika, salt, and black pepper.
Bring to a simmer and cook for about 2-3 minutes, then remove from heat.
Toss the cooked yuca with the mojo sauce until well coated.
Optionally, mix in the chopped cilantro and finely chopped onion for added flavor.
Enjoy your meal!