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Preheat the oven to 350F.
Remove the corned beef from its package, saving the spice packet. Rinse the corned beef with cold water and pat dry.
Lay it on a piece of aluminum foil, fatty side up, and brush all over with the Dijon. Sprinkle the top with the spice packet and wrap up the corned beef. If you have a second piece of corned beef, put it in its own foil packet.
Put the beef in a baking dish and bake for 1 hour per pound of corned beef. My 2 pieces were each about 3 lbs each so I roasted them for a total of 3 hours (if you have a piece that's 2.5 lbs, you would roast for 2 ½ hours)...
About 45 minutes before the beef will be ready, line a sheetpan with parchment paper.
Place all vegetables and garlic cloves on the sheetpan, cut sides down, and toss with oil, salt and pepper and rosemary.
Bake in same oven for 30 minutes.
Add the balsamic vinegar and toss again and bake for another 15 minutes.
Sprinkle with more chopped rosemary if you like.
When the beef has cooked, remove it from the oven, open the foil and broil for about 4-5 minutes, or until the top begins to crisp. Let the corned beef rest at least 10 minutes before slicing it against the grain.
Serve with Dijon, vegetables, and pumpernickel or rye bread.