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Preheat oven to 400 degrees.
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In a small bowl whisk together olive oil, garlic, agave, lemon juice, guava juice, cumin, pepper, onion powder and salt.
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Place drumsticks in a rimmed 13-in. x 9-in. baking dish limed with foil, for easier clean up.
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Pour guava mixture all over chicken, turning pieces to coat all sides.
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Bake uncovered for about 30 minutes, or until chicken is cooked and juices run clear.
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Place drumsticks on serving platter and garnish with sliced guavas.