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Preheat oven to 375°. On a large baking sheet, drizzle carrots with oil, then season with salt and pepper. Toss until combined and bake until carrots are tender, 38 to 40 minutes. Meanwhile, make balsamic glaze: In a small saucepan, combine balsamic vinegar and honey. Simmer until reduced by half, stirring occasionally, 15 minutes (the mixture should coat the back of a spoon). Let cool slightly. Drizzle carrots with balsamic glaze and garnish with parsley. Serve warm.