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In a mixing bowl, whisk together the yogurt, 1 tsp vanilla extract, and 1 tbsp of the maple syrup until smooth. Set aside.
In a separate bowl, whisk together the milk, chia seeds, 1/2 tsp vanilla extract, lemon juice, and the remaining 1 tbsp maple syrup until combined. Let the mixture sit for 5 minutes, then whisk again to break up any clumps. Refrigerate for at least 30 minutes, until the chia seeds have absorbed the liquid and the pudding is thick and spoonable.
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