In a medium saucepan, combine the milk, heavy cream, sugar, salt, and vanilla extract. Heat over low heat, stirring occasionally, until the sugar is dissolved and the mixture is warm, but do not boil.
In a separate bowl, whisk the egg yolks until light. Slowly drizzle a ladleful of the warm milk mixture into the egg yolks while whisking constantly to temper the eggs.
Pour the tempered egg mixture back into the saucepan. Cook over low heat, stirring constantly, until the custard thickens and coats the back of a spoon. This should take about 5-7 minutes.
Strain the custard through a fine-mesh sieve into a clean bowl. Let it cool to room temperature, then cover and refrigerate for at least 4 hours, or preferably overnight.
Pour the chilled custard into an ice cream maker and churn according to the manufacturer’s instructions.
When the ice cream is almost done churning, add the chopped dark chocolate chunks and mix until evenly distributed.
Transfer the ice cream to an airtight container. Create a core by layering a ribbon of salted caramel sauce in the center, and sprinkle with a pinch of sea salt for the perfect balance of sweet and salty.
Place the ice cream in the freezer for at least 2 hours to firm up before serving.
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