Heat the vegetable oil in a large pot over medium heat.
Add the chopped onion and garlic, and sauté until the onion is translucent.
Add the chopped tomatoes and bell pepper, and cook for another 5 minutes.
Stir in the ground cumin, paprika, and dried oregano.
Add the chicken pieces to the pot and cook until they are browned on all sides.
Pour in the chicken broth and bring to a boil.
Reduce the heat to low and simmer for 30 minutes, or until the chicken is cooked through.
Add the yuca, potatoes, carrots, plantain, and corn to the pot.
Continue to simmer until the vegetables are tender, about 20-25 minutes.
Stir in the chopped cilantro, and season with salt and black pepper to taste.
Remove the chicken pieces from the pot and shred the meat. Return the shredded chicken to the pot.
Ladle the sancocho into bowls.
Garnish with lime wedges, fresh cilantro, avocado slices, and hot sauce if desired.
Enjoy your meal!