Cut the root crosswise into shorter, more manageable 3- to 4-inch sections.

Using a vegetable peeler, remove the dark brown skin and the first inner layer. This is a thick and pale pink/white layer underneath the brown skin.

After peeling, cut the sections in half lengthwise. In the middle there is a thick, fibrous woody thread (the core). Cut or wedge this core out and discard it.

Rinse the pieces thoroughly in cold water.

Place the cleaned yuca pieces into a large pot with water and 1/2 tsp.. salt.

Bring to a boil, then reduce heat to medium-high. Cover and cook for 20-40 minutes (depending on size). The yuca is ready when it is fork tender, but not falling apart. It will turn from white to a slightly translucent yellow color.

While the yuca is cooking, make the sauce.

In a minichopper, or with a mortar and pestle, make a paste with the garlic and onion.

Combine the orange juice, lime juice, onion/garlic paste, olive oil, and salt. Whisk to emulsify.

When the yuca is fully cooked, drain and top with sauce. Serve hot.