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Adjust rack to top position and preheat oven to 325 degrees. Wash and dry produce. Zest and halve oranges. Peel one orange and separate into segments. In a medium pan, combine ½ cup water, maple syrup, orange zest, and juice from orange halves over medium heat. Cook, stirring constantly, until liquid has mostly evaporated and flavors meld, 3-5 minutes. Remove pan from heat; cover to keep warm.