Pour the milk and heavy cream into a medium saucepan. Heat over medium heat until steaming, but do not boil.
Meanwhile, in a separate bowl, whisk the egg yolks and sugar together until pale and thick.
Slowly pour a small amount of the warm milk mixture into the egg yolk mixture, whisking constantly to prevent the eggs from curdling. Tempering the eggs.
Pour the entire mixture back into the saucepan and cook over low heat, stirring constantly, until the mixture thickens enough to coat the back of a spoon.
Remove from heat and stir in the vanilla extract, almond extract, and a pinch of salt. Let it cool completely.
Once cooled, pour the mixture into an ice cream maker and churn according to the manufacturer's instructions.
When the ice cream is almost done churning, add the ground pistachios and chopped, toasted almonds, allowing them to distribute evenly.
Transfer the finished ice cream to a freezer-safe container and freeze for at least 3 hours to allow it to firm up to the desired consistency.
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