Zest and juice your oranges, lemon, and limes into a large mixing bowl. Add minced garlic, shallots, olive oil, brown sugar, salt, pepper, rosemary, parsley, and red pepper flakes. Whisk until fully combined.

Divide the marinade in half. Set one half aside in a small bowl or jar to use as your glaze base later.

Lightly pound chicken breasts to an even thickness or butterfly them in half. Place into the first half of the marinade and coat well.

Cover and refrigerate for at least 30 minutes and no longer than 4 hours. Do not over-marinate or the acid will break down the chicken texture.

Pour the reserved marinade half into a small saucepan with 2 tbsp honey. Stir and bring to a low simmer over medium-low heat. Cook for 5 to 6 minutes until thickened and glossy. Remove from heat and let cool.

Preheat grill or grill pan to medium-high heat. Brush grates lightly with oil.

Remove chicken from the marinade, letting excess drip off. Grill for 6 to 7 minutes per side until internal temperature reaches 165 degrees F at the thickest part.

During the last 1 to 2 minutes of grilling, brush the glaze over each piece. Flip once to coat both sides and allow the glaze to caramelize.

Transfer chicken to a plate and rest for 3 to 5 minutes before slicing and serving.