Add cranberries, brown sugar, water, and cloves to a medium saucepan over medium heat. Bring to a rapid simmer and cook until the cranberry skins burst and the mixture becomes thick and syrupy, about 10 minutes.
Stir in lime zest, orange zest, lime juice, and orange juice, and season with salt to taste.
Let cranberry sauce cool to room temperature before serving. Garnish with extra orange zest for presentation.