Peel and finely chop the garlic. Add the olive oil to a medium saucepan.
Heat the olive oil over medium heat, then add the garlic. Sauté for 1-2 minutes, until fragrant.
Add the balsamic vinegar and honey, and stir well to combine. The sweetness of the honey helps to balance the acidity of the balsamic vinegar.
Add the fresh rosemary sprig and simmer over low heat for 4-5 minutes, allowing the rosemary flavor to infuse the glaze.
Sprinkle in the salt and pepper, then stir. The glaze will thicken as the garlic and rosemary aromas meld together.
Remove the glaze from the heat and let it cool slightly before serving.
Serve over fresh salads, grilled meats, or even vegetables. The flavors will be rich and complex.
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