Preheat your oven to 200°C (390°F). Place the duck on a clean work surface and score the skin in a crosshatch pattern, being careful not to cut into the meat. This helps render fat and crisp the skin.
Season the entire duck generously with salt and black pepper, rubbing it into the scored skin and inside the cavity for even flavor.
Place the duck on a roasting rack set inside a pan, breast side up, to allow excess fat to drain away as it cooks.
Roast the duck for 20 minutes at 200°C, then reduce the oven temperature to 180°C (355°F). Continue roasting, basting every 20 minutes with the citrus-herb glaze, until the skin turns deep golden and crispy, about 1 hour.
Meanwhile, prepare the glaze by combining orange juice, lemon juice, minced garlic, thyme, rosemary, honey, soy sauce, and olive oil in a small saucepan. Bring to a gentle simmer and cook until slightly thickened, about 5 minutes.
Once the duck skin is crispy and golden, check that the internal temperature reaches 75°C (165°F) using a meat thermometer. If needed, roast a bit longer or cover loosely with foil to finish cooking.
Remove the duck from the oven and let it rest on the rack for 15 minutes. This allows the juices to redistribute, ensuring juicy meat with crispy skin.
Brush the duck generously with the citrus-herb glaze, allowing it to soak into the skin and infuse extra flavor. Reapply a few times if desired.
Carve the duck into serving pieces, revealing tender, juicy meat with beautifully crisped skin. Serve immediately, ideally with additional citrus slices or herbs for garnish.
