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(Optional for more flavor): Heat oil over medium-high heat in a large skillet with a lid. Once hot, add carrots and cook undisturbed for 2 minutes, then continue to cook and stir an additional 3 minutes.
Remove from heat and carefully add enough water to reach 1” deep in the skillet. Bring to a boil, cover, and reduce heat to a simmer. Simmer 12-18 minutes (depending on actual carrot size, pot size, etc.) or until carrots are barely fork tender, adding additional water if it evaporates too soon. Once tender, drain carrots of any excess water and add carrots back to skillet.
Add butter and garlic to carrots and cook over medium heat until the butter melts. Add brown sugar, maple syrup, lemon juice, balsamic vinegar and all seasonings. Continue to cook and stir until glaze thickens, about 5 minutes. Taste and add additional salt if desired (I like more salt). Best served warm.