Heat oil in medium skillet over medium-high heat. Add onions; cook, stirring occasionally, until soft, about 5 minutes. Add garlic; cook until fragrant, about 30 seconds more. Stir in lemon juice, season with Adobo; set aside.
Fry yuca according to package instructions. Season fried yuca with Adobo.
To serve, transfer fried yuca to platter. Serve with mojo sauce.