Zest all citrus fruits first, then juice the orange, lemon, and limes. Combine citrus juice, zest, minced garlic, minced shallots, olive oil, brown sugar, salt, pepper, rosemary, parsley, and red pepper flakes in a bowl. Whisk until sugar dissolves.

If using chicken breasts, pound them to even thickness or butterfly them in half for uniform cooking. Reserve exactly half of the marinade in a separate container for the glaze.

Add chicken to remaining marinade in a resealable plastic bag or shallow dish. Marinate for at least 30 minutes, but no longer than 4 hours in the refrigerator.

To make the glaze, combine reserved marinade with honey in a small saucepan. Bring to a low simmer and cook for 5-6 minutes until thickened enough to coat a spoon. Set aside to cool.

Preheat grill to medium-high heat. Brush grill grates with oil to prevent sticking.

Remove chicken from marinade and place on preheated grill. Grill for 6-7 minutes per side, or until internal temperature reaches 165°F in the thickest part.

During the last 1-2 minutes of cooking, brush chicken with the honey-citrus glaze using a basting brush.

Remove chicken from grill and let rest for 5 minutes before slicing and serving.