Preheat the oven to 160°C.
Rub the pork joint all over with the olive oil then season generously. Lay the rashers of streaky bacon across the joint in a cross pattern of sorts. Sprinkle all over with the sugar, then sit in a roasting tray. Roast for 2–2½hours depending on desired cooking degree.
Remove from the oven and cover with foil, then let the joint rest for 20 minutes.
Meanwhile, prepare the sauce by whisking together the peanut butter, pork stock and ground almonds in a saucepan. Heat over a medium heat until it comes to a simmer, then season to taste.
Serve the pork after it has rested, garnished with the lemon zest, with a bowl of sauce on the side.
For top tips on protecting you and your family when preparing raw meat and poultry, visit Food Safety in the Home and view the full Food safety at home video.