Mix salt, sugar, garlic, thyme, rosemary, Balsamic vinegar, and yogurt in a bowl until all the salt and sugar are dissolved.
In a large mixing bowl, thoroughly mix the chicken pieces with the mixture, making sure it's evenly distributed.
After that, add in the olive oil and mix thoroughly again. Set aside on the counter and let the flavors absorb. If you're going to roast within 90 minutes, no need to refrigerate. That will just slow down the marinating process.