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Combine the rinsed sorghum, 3 cups water, and 1/2 tsp salt in a medium saucepan and bring to a boil over high heat. Reduce the heat to low, cover, and simmer for 45–55 minutes, until the grains are tender and chewy with no hard center. Drain any excess water and set aside.
While the sorghum cooks, whisk together the balsamic vinegar, 1 tbsp olive oil, minced rosemary, honey, black pepper, and 1/4 tsp salt in a small bowl until combined. Set the dressing aside.
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