The night before cooking, remove the duck from the wrapping, then remove the giblets and neck from inside the duck. Rinse under cold water, then pat dry inside and out with paper towels. Place the duck on a plate. Refrigerate, uncovered (make sure it’s not touching anything), overnight.
Preheat the oven to 350 degrees F. Bring the duck out of the fridge. Pat it inside and out with paper towels again. Prick the skin all over with a fork, or score it with a knife, being careful not to cut through to the meat. Season inside and out with salt and pepper.
Fill the cavity of the duck with the quartered orange and garlic. Tie the legs and wings with kitchen twine, and place in a roasting pan on a raised rack.
Roast the duck, covered, for one hour. After one hour, turn the duck carefully with wooden spoons so that it is breast side down. Roast for one more hour, covered, then turn breast side up for an additional half hour.
Meanwhile, in a small bowl combine the juice of one orange, lemon, soy sauce, orange zest, Worcestershire sauce, and sugar. Whisk well, and whisk again right before basting.
Increase the oven temperature to 425 degrees. Remove the duck from the roasting pan to a plate. Drain the fat from the bottom of the roasting pan, saving the duck fat for latter use if desired.
Place the duck back in the pan, breast down, and baste with the half of the mixture using a brush or a baster. Roast for 15-20 minutes, now uncovered, then turn breast side up and baste again with the mixture.
Continue to roast for 15-30 minutes, until the skin is crispy and the duck is at least 165 degrees in the breast. Remove the Crispy Roast Duck from the baking pan and tent with foil for about 15 minutes before slicing.