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Combine the water, rooibos tea bags, and orange zest in a small saucepan. Bring to a gentle simmer over medium heat, then remove from the heat and steep for 5 minutes.
Remove and discard the tea bags. Stir in the maple syrup and vanilla extract until the syrup dissolves completely. Pour the concentrate through a fine-mesh strainer into a heatproof measuring cup or bowl to remove the zest, then stir in the fresh orange juice.
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