Start by marinating thinly sliced skirt or flank steak in a mixture of lime juice, orange juice, minced garlic, chopped cilantro, cumin, chili powder, salt, and pepper.
Let the steak marinate for at least 30 minutes or up to 4 hours in the refrigerator to allow the flavors to meld.
Preheat your grill to high heat and lightly oil the grates to prevent sticking.
Remove the steak from the marinade and pat it dry with paper towels to promote better searing.
Grill the steak for 3-4 minutes per side, or until it reaches your desired level of doneness. Avoid overcooking to maintain tenderness.
Once cooked, transfer the steak to a cutting board and let it rest for a few minutes to allow the juices to redistribute.
Slice the carne asada thinly against the grain to maximize tenderness.
Serve the sliced steak with warm tortillas, pico de gallo, guacamole, and lime wedges for squeezing over the top. Enjoy your delicious carne asada tacos!