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Preheat oven to 400 degrees F. Lightly oil a 9 x 13 baking dish or coat with nonstick spray.
In a small saucepan over medium heat, combine orange juice, brown sugar, butter, 1 teaspoon salt and ¼ teaspoon pepper until butter has melted, about 4 minutes. Remove from heat; stir in vanilla, cinnamon, nutmeg and rosemary.
Place potatoes into the prepared baking dish; stir in orange juice mixture.
Place into oven and bake, covered, for 40 minutes. Uncover; continue to bake for an additional 20 minutes, basting every 7-8 minutes until potatoes are tender and orange juice mixture is syrupy. Season with salt and pepper, to taste.
Serve immediately, garnished with pecans, if desired.