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Make the chicken marinade by combining honey, balsamic vinegar, Dijon, olive oil, salt, pepper, cumin, orange zest, thyme, and grated garlic. Toss the chicken thighs in the marinade, cover, and let it develop in the fridge for 30 minutes to 2 hours.
Cover the potatoes with cold water by about an inch, add salt, and bring to a boil.
Prepare the carrots by halving or quartering them lengthwise, then tossing with olive oil, honey, balsamic vinegar, salt, pepper, and orange zest. Add thyme sprigs on top.
Bake the chicken and carrots at the same time.
Drain and peel the potatoes when fork-tender. In a saucepan, warm the butter and milk with smashed garlic and thyme. Gradually add this mixture to the mashed potatoes, then fold in the goat cheese. Season with salt and pepper.
Make a glaze by combining balsamic vinegar, honey, orange juice (optional), butter, salt, and pepper.
Serve the chicken with the mashed potatoes and roasted carrots, drizzling the glaze over the chicken.