Yuca Fries with Sriracha-Lime Mayo

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2 yuca, peeled and cut into wedges, 1/4-inch wide by 3 inches long

4 cups chicken stock

1/3 cup cider vinegar

2 cloves garlic, smashed

6 cups vegetable oil

Kosher salt and freshly ground pepper

1/2 cup mayonnaise

1/4 cup chopped fresh cilantro, plus more for garnish

2 cloves roasted garlic

2 tablespoons fresh lime juice

1 tablespoon agave nectar

1/4 teaspoon Sriracha (an Asian chili sauce)