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Preheat oven to 220C (convention)/ 200C (fan-forced/convection).
Heat oil in a large oven safe pan on medium. Add garlic, miso paste and maple syrup. Sauté for a few seconds until garlic starts caramelizing.
Add carrots, salt and pepper. Toss and mix well to coat carrots evenly.
Cover with foil and bake in the oven for approximately 20 minutes until carrots are tender and starting to turn golden. Remove foil and bake for a further 5 minutes until carrots start caramelizing.
Remove from oven. Add herbs and sesame seeds. Mix and serve.