In a large bowl, whisk together minced garlic, lime juice, orange juice, olive oil, cumin, smoked paprika, chili powder, salt, and black pepper until well combined. Add the skirt steak and coat with the marinade. Cover and refrigerate for at least 30 minutes.

While the steak marinates, chop tomatoes, onion, and jalapeños. Add to a mixing bowl with chopped cilantro and a squeeze of lime juice. Season with salt to taste and mix well.

Preheat your grill to medium-high, around 400°F (204°C). Remove the skirt steak from the marinade and grill for about 3-4 minutes per side until desired doneness is reached. Let it rest covered for 5-10 minutes.

Warm corn tortillas on the grill or in a skillet over medium heat for about 30 seconds on each side until soft and slightly charred.

Slice the rested skirt steak against the grain into thin slices. Fill each warm tortilla with carne asada and top with pico de gallo. Add optional garnishes like avocado or queso fresco.