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Preheat oven to 425° and place racks in the center and upper third of the oven. In a small bowl, whisk olive oil, balsamic, maple syrup, mustard, and ¼ teaspoon each salt and pepper.
Add onion and apple to a rimmed baking sheet. Drizzle with half of the balsamic mixture and toss to combine. Season with ¼ teaspoon each salt and pepper.
Season the pork chops on both sides with 1 teaspoon salt and ¼ teaspoon pepper. Nestle the pork chops among the onions and apples. Brush the remaining half of the balsamic mixture on both sides of each chop. Top each chop with a rosemary sprig. Place in the center rack of the oven and bake until apples and onions are softened, about 15 minutes.
Increase oven temperature to a high broil. Discard rosemary and place the sheet pan on the rack in the upper third of your oven and broil until chops are slightly caramelized, 3 to 5 minutes, depending on the strength of your broiler. Let pork rest at least 5 minutes before slicing. Serve pork with apples and onions with any pan juices spooned over top.