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If using wooden skewers, soak them in cold water for at least 30 minutes so they don't char on the grill.
Combine the tamari, honey, mirin, ginger, and garlic in a small saucepan over medium heat. Bring to a gentle simmer and cook, stirring occasionally, until the glaze thickens slightly and coats the back of a spoon, about 5β6 minutes. Remove from heat and stir in the sesame oil. Pour half the tare into a small bowl and set aside for basting; reserve the remaining half in the saucepan for serving.
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