To prepare stew, combine flour and lamb in a medium bowl; toss well to coat. Heat canola oil in a large saucepan over medium-high heat. Add lamb mixture; cook 5 minutes, browning on all sides. Add onion and the next 10 ingredients (through 2 garlic cloves); sauté 5 minutes. Stir in water, lime rind, orange rind, and broth; bring to a boil. Cover, reduce heat, and simmer 45 minutes. Uncover and cook an additional 55 minutes or until lamb is tender. Stir in chickpeas; cook 2 minutes or until thoroughly heated.
To prepare sambal, combine Poached Quinces and the remaining ingredients, tossing well. Serve over stew.