Check off each step as you cook.

1. 01Peel and cut.For fresh yuca, cut off the ends, slice into lengths about 3 inches long, and carefully remove both the thick brown skin and the inner pinkish peel. Cut the white flesh lengthwise into quarters and rinse. For frozen peeled yuca, follow the package preparation directions.
2. 02Boil thoroughly.Place yuca in a pot and cover generously with fresh water. Add the boiling salt, bring to a boil, and cook uncovered at a steady boil for about 25–35 minutes, or the package time, until completely tender. Keep the pieces submerged, adding hot water as needed. Never taste it raw.
3. 03Prepare the warm mojo.While yuca cooks, warm olive oil in a small skillet over medium-low heat. Add onion and cook for 7–8 minutes until soft. Add garlic and stir for 1 minute without browning. Remove from heat, then carefully stir in orange juice, lime juice, dressing salt, and pepper.
4. 04Drain and remove the core.Drain the yuca, discarding all cooking water. Let it stand briefly until safe to handle, split the pieces, and pull out any tough central fibers. Transfer the tender pieces to a warm serving dish.
5. 05Dress and serve.Spoon the warm onion and garlic-citrus oil over the yuca. Turn gently to coat without crushing the pieces. Serve warm.

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