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Rinse and peel the skin off the root vegetables. Cut them into chunks that are roughly the same size (around 1-1.5 inches).* Cut the onion into wedges. Peel the skin off the garlic.
Over medium high heat add 1 cup of water into a large pot and place a steamer basket inside. Add the chopped root vegetables EXCEPT the onion and garlic into the steamer basket. Once the water starts to boil, cover and steam the vegetables for 8-10 minutes, or until they are fork tender. You should be able to pierce the vegetables with a fork but they should not be over-cooked and mushy.
Pre-heat oven to 400F. Place the steam root vegetables, onions and garlic onto a parchment lined baking tray. Sprinkle on salt and pepper and toss to season. Bake in the oven for 30-35 minutes, or until vegetables are golden brown.
In the meantime, whisk together the miso paste, rice vinegar, tahini, maple, minced garlic and water. Taste and add more rice vinegar and/or water as needed. It shouldn't be too thick, slightly runny but not water-y.
Once the vegetables are out of the oven, pour the miso glaze on top and toss to coat. Top with scallions and sesame seeds. Serve and enjoy!