Combine first 4 ingredients. Rub mixture on all sides of chicken. Cover and refrigerate 2 to 8 hours.
Light one side of grill, heating to medium-high heat (350° to 400°); leave other side unlit. Arrange chicken, skin sides down, over lit side and grill, covered with grill lid, 5 minutes or until browned. Move chicken, skin sides up, to unlit side of grill and cook, covered with grill lid, 35 minutes or until thermometer inserted into thickest portions registers 170°.
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