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Bring 6 cups of water to a rolling boil in a medium saucepan over high heat. Add the tapioca pearls and stir immediately to prevent sticking. Cook, stirring occasionally, until the pearls are completely translucent with no white center, about 15–20 minutes.
Remove the saucepan from the heat, cover, and let the pearls rest for 10 minutes — they will finish softening and become fully chewy. Drain through a fine-mesh strainer and rinse briefly under warm water.
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