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In a medium saucepan, whisk together the cornstarch, cinnamon, ginger, nutmeg, and salt. Gradually whisk in the milk until the cornstarch is fully dissolved with no lumps.
Whisk in the pumpkin puree and maple syrup until smooth. Set the saucepan over medium heat and cook, whisking constantly, until the mixture thickens enough to coat the back of a spoon and a finger drawn through leaves a clean line, about 8–10 minutes. Do not let it boil hard — reduce heat to medium-low if large bubbles begin to break the surface.
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