In a large bowl, whisk together all the marinade ingredients. Add the chicken, toss to coat, and cover with foil or plastic wrap. Refrigerate for 30 minutes to 2 hours (4 hours max).

While the chicken is marinating, score the potatoes and cover them with cold water by about an inch. Season generously with salt and bring to a boil. Cook for 20–30 minutes, or until fork-tender.

While the potatoes boil, preheat oven to 350°F.

Remove the chicken from the fridge and place on a foil-lined sheet pan or oven-safe dish. Let sit on the counter to take the chill off.

In an oven-safe dish, toss the carrots with olive oil, honey, balsamic, salt, pepper, and orange zest. Arrange in a single layer (or as evenly as you can).

Add the chicken and carrots to the oven and bake for 35–45 minutes, or until the chicken reaches 160°F internal. Check the carrots at 35 minutes and pull them if ready. Bake time will vary by oven.

While the chicken and carrots bake, warm the room-temperature milk and butter over medium-low heat. Add the garlic and thyme and let it simmer gently. Strain before using.

Drain and carefully peel the boiled potatoes. Mash or rice them, gradually adding the infused butter and milk mixture, folding after each addition. Fold in the goat cheese until creamy. Season to taste with salt and pepper. Cover and keep warm.

In a small pan over medium heat, combine the balsamic, honey, orange juice, salt, and pepper. Simmer 2–3 minutes until slightly thickened. Remove from heat and stir in the butter until silky. Taste and adjust with more salt or orange juice if desired.

Plate the mashed potatoes, top with the chicken, and spoon over the glaze. Add the carrots alongside and enjoy!