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Place the parsnip, sweet potato, and turnip chunks in a large pot and cover with cold water by at least 1 inch. Add 1 tsp fine sea salt and bring to a boil over high heat, then reduce to a steady simmer and cook for 18–22 minutes, until all the pieces are completely tender when pierced with a fork and offer no resistance at the center.
While the vegetables cook, combine the olive oil and smashed garlic cloves in a small saucepan over low heat. Cook, swirling occasionally, for 6–8 minutes, until the garlic is softened and fragrant and the oil is infused with its flavor. Remove from heat and discard the garlic cloves.
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