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From a game perspective: Lucario in most situations. Creates situations where Zoroark wins (criticals, the right item and move, a good Illusion...). Favors Lucario on type match-ups.
Outside of straight game mechanics: Lucario. Could argue for Zoroark's tricky nature to score it some victories. Seems unlikely, given Lucario's abilities. From the Pokemon X Pokedex:
By catching the aura emanating from others, it can read their thoughts and movements.
With coverage, probably Zoroark. It's faster, has a lot of Special Attack, and Lucario has poor bulk.
There's also Illusion to keep in mind. If Zoroark tricks Lucario's trainer, that's basically a free attack or Nasty Plot for Zoroark in case Lucario could survive one Flamethrower or Focus Blast miss.
And well, the Zoroark could also be Hisuian, in that case Lucario would have nothing super effective unless it has Dark Pulse.
In a 1 on 1 I was gonna say Lucario due to type match-up.... apparently Zoroark if it has flamethrower can one shot Lucario though. Well in most cases... with full Special Defense investment and a +Special Defense Nature Lucario can actually live a Flamethrower hit (77.5 - 91.4% damage).
Lucario can get priority moves but none of them would faint Zoroark in 1 hit.
So I guess... if Lucario is invested into Special Defense and Zoroark has Flamethrower Lucario wins.
If Lucario isn't invested into Special Defense and Zoroark has Flamethrower Zoroark wins.
If Zoroark does not have Flamethrower Lucario wins.
I mean... Lucario has the type advantage over Zoroark, assuming it's a Unovan Zoroark; Lucario is SOL if Zoroark is Hisuian, unless it (Lucario) has a Dark-type move.
However, Zoroark outspeeds Lucario, and does have some super-effective attacks against it in its movepool.