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Adjust rack to top position and preheat oven to 425 degrees. Wash and dry all produce.
Peel and mince garlic. Zest and quarter lemon. Zest and halve orange. Roughly chop cilantro.
In a small bowl, combine yogurt with a pinch of garlic to taste. Add water 1 tsp at a time until mixture reaches a drizzling consistency. Season with salt and pepper. Set aside.