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Combine the yellow mustard, apple cider vinegar, brown sugar, honey, Worcestershire sauce, hot sauce, garlic powder, onion powder, smoked paprika, black pepper, and salt in a small saucepan and whisk until smooth.
Set the saucepan over medium-low heat and cook, stirring frequently, until the sugar has fully dissolved and the sauce is steaming and slightly thickened, about 8–10 minutes. Do not let it boil.
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