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At least 1 day before you plan to serve, make the ice cream: In a medium saucepan, combine sugar and 1 cup/200 milliliters of water over medium-high heat. Heat for 3 to 4 minutes, stirring until the sugar has dissolved. Add the orange and lemon zests, remove from the heat and set aside to cool down and infuse for at least 30 minutes.
In a large bowl or pitcher, combine the yogurt, cream, orange and lemon juices. Pour in the sugar syrup, discarding the strips of zest. Stir well to combine, pour through a fine sieve and refrigerate until very cold, at least 4 hours.
Pour mixture into an ice cream machine and churn until the ice cream is set. Transfer to a container and freeze until solid. (Can be prepared up to this point up to 1 month in advance.)
On the day of serving, prepare the grapes: Heat oven to 450 degrees Fahrenheit/240 degrees Celsius. In a medium bowl, combine grapes, muscat, honey, thyme, brown sugar and lemon zest, and stir well. Pour into a high-sided 9-by-13-inch/20-by-25-centimeter baking dish and bake for 30 to 45 minutes, stirring a few times, until the grapes have caramelized and the liquid is syrupy.
If the juices don’t thicken, pour them into a saucepan (reserve the cooked grapes separately) and reduce over medium heat until syrupy and beginning to caramelize. Turn off the heat and immediately stir the grapes back into the sauce.
Five minutes before serving, remove ice cream from the freezer and divide between serving bowls. Spoon grapes and sauce over the ice cream and serve at once.