To cook yuca, place pieces in a saucepot and cover with cold water and bring it to a boil over medium-high heat. Once at a boil, lower the temperature and simmer until yuca is tender. Next, place red onion slices in a sauce pot with the vinegar, water, peppercorns, coriander, and 1 bay leaf. Bring the onions to a boil and remove from the heat to cool at room temperature. Once the yuca is tender strain and place in a serving bowl. Spoon the onions over the yuca. Serve with roasted garlic and hot sauce. Season with salt and pepper.