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Combine the yellow mustard, apple cider vinegar, honey, brown sugar, tamari, Worcestershire sauce, garlic powder, onion powder, smoked paprika, black pepper, and cayenne, if using, in a small saucepan. Whisk until smooth.
Set the saucepan over medium-low heat and cook, stirring frequently, until the sauce is steaming and the sugar has fully dissolved, about 5–7 minutes. Do not let it boil.
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