Season the duck legs generously with salt and pepper, then rub with finely chopped rosemary and crushed garlic. Let it stand for at least 30 minutes to allow the flavors to meld.
Preheat the oven to 320°F (160°C). Place the duck legs, skin-side down, in a dry, cold pan over medium heat. Cook until the fat renders and the skin is golden brown and crispy (about 8-10 minutes).
Flip the legs and cook for another 5 minutes. Transfer them to a baking dish. Pour a little white wine over them and cover with foil.
Roast the duck legs for 2 hours at 320°F (160°C), basting occasionally with their own fat to keep them moist.
While the duck is roasting, prepare the caramelized onions. Slice the red onions thinly and melt the butter in a pan over medium heat.
Add the brown sugar and mix well, then add the sliced onions. Sauté over low heat, stirring occasionally, until the onions soften and caramelize (about 20 minutes).
Pour in the balsamic vinegar, mix well, and simmer for another 5 minutes to make the onions even more flavorful and silky.
When the duck is cooked, remove it from the oven and let it rest for 5 minutes. Serve with the caramelized onions and, if desired, roasted potatoes or steamed vegetables.
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