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Fill a large pot with 1 inch of water and bring to a boil over high heat. Set a steamer basket inside, add the cauliflower florets, cover, and steam until completely tender and a fork slides through the thickest pieces with no resistance, 12–15 minutes. Drain and transfer the florets to a colander; shake off as much moisture as possible.
While the cauliflower steams, warm the olive oil and smashed garlic cloves together in a small saucepan over medium-low heat until the garlic is golden and fragrant, about 5–6 minutes, watching closely so the garlic does not burn. Remove from the heat and discard the garlic cloves, reserving the infused oil.
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