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Combine the balsamic vinegar, honey, Dijon mustard, minced garlic, rosemary, salt, black pepper, and red pepper flakes (if using) in a small bowl and whisk until the honey is fully dissolved and the mixture is uniform.
Drizzle in the olive oil in a slow, steady stream while whisking constantly until the marinade is emulsified and slightly thickened, with no visible separation.
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