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Preheat oven to 400F.
Cut sweet potatoes and carrots into roughly ¾-inch to 1-inch pieces. Place in a large baking dish.
Add minced garlic, olive oil, maple syrup, thyme, rosemary, cinnamon, and salt to the baking dish. Toss everything together so that the veggies are well-coated in the oil, syrup, and spices.
Place the baking dish in the oven for 35-40 minutes, tossing them halfway through. The veggies should be lightly browned and caramelized and easily pierced with a fork.
Remove from oven + serve hot!