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Combine the olive oil, garlic, orange zest, lemon zest, rosemary, thyme, red pepper flakes, and fennel seeds (if using) in a small saucepan over medium-low heat. Warm until the oil begins to sizzle gently around the garlic and the herbs are fragrant, about 4β5 minutes. Do not let the garlic brown.
Add the drained olives to the saucepan and stir to coat. Continue to warm over medium-low heat, stirring occasionally, until the olives are heated through and the oil is deeply fragrant, about 4β5 minutes.
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