In a large resealable plastic bag, combine the garlic, ginger, lemongrass, fish sauce, soy sauce, lime zest, and lime juice. Cut the chicken thighs into strips and add them to the bag.
Massage the chicken to make sure it is well coated. Place the bag in the refrigerator and marinate the chicken for 30 to 60 minutes, turning the chicken every 15 minutes.
If you are using wooden skewers, put them in water to soak for 30 minutes.
While the chicken marinates, make the peanut sauce. In a food processor, combine the peanut butter, pineapple, soy sauce, water, fish sauce, hoisin sauce, shallot, ginger, chili garlic paste, lime zest, and lime juice. Pulse until combined and smooth.
Once the chicken finishes marinating, preheat the grill to 450 degrees. Then thread the chicken onto the skewers. Rub the grill grates with vegetable or canola oil.
Grill the chicken skewers until the internal temperature reaches 165 degrees, about 4 to 5 minutes per side.
Serve the skewers over lettuce or rice and top with the chopped peanuts, green onions, cilantro, basil, mint, red onions, and peanut sauce.