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I use a microplane which I assume is synonymous with a zester?
I use a microplane in situations where the zest will be eaten. For beer I prefer a veggie peeler. Avoiding the pith is easy enough with a sharp peeler and a bit of practice. If you do get a bit of pith, just peel or scape it off.
When doing a whole bag of oranges for a wit I found this peeler worked well. https://www.amazon.com/Kuhn-Rikon-Original-Peeler-Yellow/dp/B000H7O3QS Though of using my microplane but that would have taken considerable effort for that many oranges. Wasn't hard to avoid getting into the pith.
Rotato!https://www.facebook.com/tim.thomssen/videos/vb.100002849011796/871526276285665/?type=3&theater
I'm in the microplane camp as well. It is also my preferred tool for fresh ginger.