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In a small bowl, whisk together the balsamic vinegar, 3 tbsp extra-virgin olive oil, rosemary, garlic, Dijon mustard, 1/2 tsp salt, and 1/4 tsp black pepper until combined. Reserve 2 tbsp of the marinade in a separate small bowl and set aside for glazing.
Pat the chicken thighs dry with paper towels and place them in a large zip-top bag or shallow dish. Pour the remaining marinade over the chicken, turning to coat. Seal and marinate at room temperature for 30 minutes, or refrigerate for up to 8 hours.
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