In a bowl, whisk together minced garlic, juice of two limes, a splash of orange juice, olive oil, cumin, smoked paprika, chili powder, salt, and black pepper. Coat the skirt steak thoroughly in this marinade and let it marinate in the fridge for at least 30 minutes, ideally up to 2 hours.

Prepare your fresh pico de gallo by combining diced tomatoes, chopped red onion, minced jalapeños, chopped cilantro, and juice of half a lime. Mix and add salt to taste, then set aside in the fridge.

Preheat your grill or skillet over medium-high heat for about 5 minutes. Lightly grease if using a skillet.

Remove the marinated skirt steak from the fridge and discard the marinade. Grill for 3-4 minutes on each side for medium-rare, then let it rest for 5 minutes.

Warm the corn tortillas on the grill or skillet for about 30-45 seconds on each side.

Assemble the tacos by slicing the rested steak against the grain and placing it on warm tortillas topped with pico de gallo and optional garnishes.