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To make the pineapple salsa, stir together all ingredients and store in the fridge until ready to serve.
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In a mixing bowl, whisk together minced adobo, adobo sauce, pineapple juice, lime juice, cumin, salt, and pepper. Add shrimp and toss to coat. Refrierate for 30 minutes.
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Heat oil over medium-high heat. Add shrimp, shaking off excess marinade, to the hot pan and cook about 2 minutes on each side, until pink and curled and cooked through.
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To assemble the tacos, layer shrimp, pineapple salsa, avocado, and cilantro on the jicama tortillas. Serve immediately.