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Preheat oven to 400°. Wrap each beet in foil and place on a baking sheet. Roast until tender (you can insert a fork or knife through the foil to test), about 1 hour. Let sit until cool enough to handle, then peel and cut into wedges.
Meanwhile, make vinaigrette: In a jar, shake together olive oil, vinegar, maple syrup, and Dijon until fully combined. Season with salt and pepper.
Place arugula in a large serving bowl and lightly dress with vinaigrette. Top with beets, avocado, goat cheese, and walnuts. Toss gently and add more vinaigrette as needed.