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Preheat oven to 375ºF.On a large baking sheet coated with parchment paper, add quinoa, tamari, and toasted sesame oil; toss well to coat. Spread quinoa into an even layer.On a separate baking sheet, toss asparagus with olive oil and kosher salt, and arrange in a single layer, avoiding any overlap.Place both pans in the oven (I prefer doing the quinoa on the center rack, and the asparagus one rack below) and set timer for 10 minutes.After 10 minutes, remove asparagus from oven and set aside to cool. Give the quinoa a good toss and place back in the oven for another 15 minutes (25 minutes total), until golden and crispy.
Meanwhile, prepare dressing by combining all dressing ingredients in a glass jar (or large liquid measuring cup) or medium bowl. Whisk well to combine.
To a large serving bowl or platter, combine edamame, avocado, scallions, and basil. Slice asparagus on the bias into 2-inch long pieces and add to bowl.
Top salad with crispy quinoa and pour dressing overtop; gently toss to combine. Garnish with toasted sesame seeds, if desired. Enjoy warm or closer to room temperature.(Note: The quinoa will soften shortly after being mixed with the dressing and other salad components, so this salad is best enjoyed fresh.)