Combine garlic, chili powder, oil, lime zest, lime juice, salt and pepper in a large ziploc bag. Add chicken to the bag, seal and turn to coat. Marinate in the refrigerator for 30 minutes or up to 2 hours.
Combine cherries, shallots, jalapeño, cilantro, 1 tablespoon oil, 2 tablespoons lime juice, lemon juice and Apricot Jalapeño Jelly in a bowl. Season with salt and pepper.
Heat grill to medium-high. Remove chicken from marinade. Grill over direct heat until internal temperature reaches 165 degrees, 6 to 8 minutes per side. Let stand for 5 minutes.
Serve with pico and lime wedges.