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Combine the yellow mustard, apple cider vinegar, brown sugar, honey, Worcestershire sauce, garlic powder, onion powder, cayenne, black pepper, and salt in a small saucepan. Whisk until smooth.
Set the saucepan over medium-low heat and cook, whisking occasionally, until the sugar has fully dissolved and the sauce is steaming and just beginning to bubble at the edges, about 5–7 minutes.
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