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Heat instant pot using the "saute" function and add a drizzle of olive oil. Working in batches with the lid off, add the chicken to the pot and cook just until browned on the outside.
Return all chicken to the pot and add the apple cider vinegar, chicken broth, maple syrup, mustard, garlic, rosemary, ½ teaspoon salt, and a pinch of pepper.
Secure instant pot lid, turn steam valve to "sealed," and press "poultry" function. Adjust time to 6-12 minutes (depending on size & type of chicken - see notes) and let cook.
When the timer goes off, turn the steam valve to "release." I like to push the valve with the end of a wooden spoon, so I can keep my hands far away from the steam!
Once all the steam has been released, open the lid and remove the pieces of chicken to a platter. Press the "saute" function, leaving the lid off, and cook the liquid until it forms a thick glaze, about 5-10 minutes.