Preheat the oven to 400°F (200°C). Line a sheet pan with parchment paper.
In a large mixing bowl, whisk together the orange juice, olive oil, mustard, honey, and all the spices including the salt and pepper. Toss the vegetables in this mixture to coat evenly. Spread the vegetables in one layer onto the sheet pan. Roast until tender and lightly charred, about 20 minutes, removing vegetables as they cook to avoid burning them. Set aside to cool and then cut into smaller pieces, a little larger than the chickpeas.
In the meantime, prepare the chickpeas: Heat the olive oil in a large wide pot and sauté the onion until translucent. Stir in the garlic. Add the chickpeas and stir. Stir in the tomato paste. Squeeze the orange wedges into the chickpeas to get out their juice and add the wedges, peel and all, to the pot. Add the rosemary and 2 cups of the hot broth or water. Season to taste with salt and pepper, partially cover the pot, and cook the chickpeas on low for the flavors to meld, about 15 or 20 minutes. If you want the mixture to be thick and creamy, you can mash a handful of chickpeas against the side of the pot.
Add the root vegetables to chickpeas, heat all together for about 5 minutes, stir in the balsamic vinegar, and serve.
