Place the fire roasted tomatoes, chipotle peppers, and adobo sauce into a food processor or high speed blender. Blend the mixture until the sauce is pureed. Set aside to use later.
Heat 2 tablespoons of olive oil in a large skillet over medium high heat. Add in the shrimp and sear for about two minutes each side until the shrimp are opaque. You may have to do this in batches depending on how large your skillet is and how much shrimp you have.
Transfer the cooked shrimp to a plate and cover to keep warm.
Using the same skillet, add the remaining 2 tablespoons of olive oil over medium-high heat and sauté the onion until the onion is translucent and golden brown. Add in the garlic and sauté for about a minute.
Pour in the orange juice and heat for 2-3 minutes until the orange juice has reduced and is almost evaporated.
Add in the chipotle tomato sauce to the skillet and bring to a simmer. Simmer the sauce mixture until the sauce thickens enough to coat the back of a spoon, about 10-15 minutes.
Once the sauce has thickened, remove from the heat and add in the cooked shrimp. Stir until the shrimp is generously coated with the sauce mixture. Squeeze the lime juice over the chipotle shrimp and mix in the chopped cilantro. Season with salt and pepper. Serve with the cheddar grits and garnishes.