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Positions racks in the center and upper thirds of your oven, and preheat the oven to 425 degrees F.
Place the onion, apple slices, and Brussels sprouts in the center of a large, rimmed baking sheet. Top with 1 tablespoon oil, honey, mustard, ½ teaspoon salt, and ¼ teaspoon pepper. Toss to coat, then spread in an even layer.
Nestle the chicken onto the sheet pan towards its center, skin side up, moving the apple and vegetables aside as needed so that the chicken sits directly on the sheet pan. Pat the chicken dry, and season with the remaining 1/2 teaspoon salt and 1/4 teaspoon pepper. Drizzle the remaining 1 tablespoon oil over the top. Lay a sprig of rosemary on top of each piece of chicken. (If you have more thighs than sprigs, cut the sprigs into pieces as needed and divvy them up.)
Bake the chicken and vegetables on the center rack for 15 minutes. Remove the pan from the oven, and use a spatula to stir the vegetables around a little. Return the pan to the oven, and continue baking 5 to 10 minutes more, until the chicken is cooked through. It will register 165 degrees F on an instant read thermometer inserted at the thickest part. If some pieces of the chicken finish sooner than others, remove them to a plate and continue cooking the remaining pieces until they are done. The apples will become very soft and break down and the onions and Brussels sprouts will darken and become super crisp (this is the honey caramelizing).
Remove the pan from the oven, and then remove and discard the rosemary springs. Return any chicken pieces you removed earlier to the pan. Turn the oven to broil. Place the pan on the upper third of the oven and broil for 2 to 3 minutes, until the skin is golden and crispy. This step will crisp the veggies further too; if you prefer them not to continue crisping, remove from the pan prior cooking, or place the chicken on a different baking sheet (line it with foil first for easy clean up).
Remove the pan from the oven, and season the chicken with an extra pinch of salt and chopped fresh rosemary. Serve the chicken hot with the apples and veggies served along side.