Saya mencicipi kuah dengan kaldu dan cuka itu, lalu menambahkan sedikit garam.

Not quite. Mencicipi means to taste or to sample, usually in a small amount, often to check the flavor.

So it is different from:

• makan = to eat
• minum = to drink
• mencicipi = to taste/sample

In a cooking context, mencicipi is very natural because you are trying the food to see whether it needs more seasoning.

Kuah is the liquid part of a dish. Depending on context, it can be translated as:

• broth
• gravy
• sauce
• soup liquid

So kuah is a broader word than just one fixed English translation. In this sentence, broth or soup liquid is probably the best match.

This is a very common question, because they can seem similar.

• kuah = the liquid in the dish you are eating
• kaldu = stock/broth used as a base or flavoring liquid

A simple way to think of it:

• kaldu is something you make or use in cooking
• kuah is the liquid part of the finished dish

So kuah dengan kaldu dan cuka suggests a liquid dish or sauce that includes stock and vinegar.

Dengan usually means with, but with can mean several things in English too. Here it most likely shows what the kuah contains or is made with:

• kuah dengan kaldu dan cuka = broth/sauce with stock and vinegar

In other sentences, dengan can also mean:

• using
• together with
• by means of

So the exact meaning depends on context.

Because in Indonesian, demonstratives like ini and itu usually come after the noun phrase.

For example:

• rumah itu = that house
• buku ini = this book
• kuah dengan kaldu dan cuka itu = that broth/sauce with stock and vinegar

This is normal Indonesian word order.

It normally refers to the whole noun phrase, not just cuka.

So:

• kuah dengan kaldu dan cuka itu

is understood as:

• that broth/sauce with stock and vinegar

not:

• broth with stock and that vinegar

If you wanted that vinegar specifically, you would usually phrase the sentence differently to make that clear.

Indonesian generally does not use articles like a/an/the.

Whether something is definite or indefinite is usually understood from:

• context
• word order
• demonstratives like ini and itu

So:

• kuah could mean broth, a broth, or the broth, depending on context
• kuah itu makes it clearly definite: that broth / the broth in question

Because Indonesian often leaves out a repeated subject when it is already clear.

So:

• Saya mencicipi ..., lalu menambahkan sedikit garam.

naturally means:

• I tasted ..., then I added a little salt.

The subject of the second verb is still understood to be saya.

A fuller version would be possible:

• Saya mencicipi ..., lalu saya menambahkan sedikit garam.

But that sounds a bit more explicit and is often unnecessary.

Lalu means then, after that, or next, so it shows a sequence of actions.

• mencicipi ..., lalu menambahkan ...
  = tasted ..., then added ...

If you used dan, it would just mean and, without emphasizing the order as strongly.

So lalu is a good choice because the actions happen one after another.

Because sedikit here is a quantity word meaning a little or a small amount of, and in normal Indonesian it comes before the noun:

• sedikit garam = a little salt
• sedikit air = a little water
• sedikit gula = a little sugar

garam sedikit is not the normal neutral order for this meaning. It may sound incomplete, marked, or like an afterthought depending on context.

It is simply omitted because it is already obvious from context.

In English, you often say:

• then added a little salt

without repeating to it, and Indonesian works the same way.

If you wanted to say it more fully, you could say:

• lalu menambahkan sedikit garam ke kuah itu
• lalu menambahkan sedikit garam ke dalamnya

So the sentence is natural even without stating the destination explicitly.

Saya is the neutral and polite word for I. It is very common in:

• standard Indonesian
• formal speech
• writing
• neutral conversation

Aku is also very common, but it is more casual and personal.

So:

• Saya mencicipi ... sounds neutral and standard
• Aku mencicipi ... sounds more casual and conversational

Both are possible, but saya is the safer default for learners.