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Preheat the oven to 425°F (220°C). Spread the mushrooms, onion wedges, and unpeeled garlic cloves on a large rimmed baking sheet. Drizzle with 3 tbsp olive oil, sprinkle with 1/2 tsp salt and 1/4 tsp black pepper, and toss to coat. Arrange in a single layer.
Roast for 25–30 minutes, stirring once halfway through, until the mushrooms are deeply browned and the onion edges are caramelized. The garlic cloves should feel soft when pressed. Remove from the oven and let cool for 5 minutes, then squeeze the garlic cloves out of their skins and discard the skins.
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