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Combine the beets, olive oil, rosemary, salt, and pepper in a mixing bowl and toss until the beets are completely coated.
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Place the beets in the air fryer basket.
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Put the air fryer basket on the baking pan and slide into Rack Position 2, select Air Fry, set temperature to 400ºF (205ºC) and set time to 10 minutes.
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Stir the vegetables halfway through.
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When cooking is complete, the beets should be crisp and browned at the edges.
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Meanwhile, make the balsamic glaze: Place the balsamic vinegar and honey in a small saucepan and bring to a boil over medium heat. When the sauce boils, reduce the heat to medium-low heat and simmer until the liquid is reduced by half.
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When ready, remove the beets from the oven to a platter. Pour the balsamic glaze over the top and serve immediately.