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Combine the balsamic vinegar, Dijon mustard, honey, garlic, salt, and pepper in a small bowl and whisk together until the mustard is fully dissolved and the mixture looks uniform.
While whisking constantly, drizzle in the olive oil in a slow, steady stream until the dressing is emulsified and slightly thickened, with no visible separation between the oil and vinegar. Stir in the thyme, if using.
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