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Heat the oven to 400°F (205°C). Place the garlic heads cut-side up in a small baking dish. Drizzle with the olive oil, sprinkle with 1/4 tsp salt, and cover tightly with aluminum foil. Roast for 40–45 minutes, until the cloves are deeply golden, completely soft, and a skewer slides through the center of a clove with no resistance. Set aside to cool slightly.
While the garlic roasts, make the popover batter. Warm the milk in a small saucepan over low heat until it is just warm to the touch, about 100°F (38°C) — not hot. Combine the warm milk, flour, eggs, melted butter, minced garlic, and 1/2 tsp salt in a blender and blend on medium speed for 15 seconds, until smooth and uniform. Let the batter rest at room temperature for 30 minutes.
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