Preheat your oven to 400°F (200°C) and line a rimmed sheet pan with parchment paper.

In a mixing bowl, whisk together maple syrup, Dijon mustard, minced garlic, soy sauce, apple cider vinegar, olive oil, salt, and black pepper until smooth.

Pat the chicken thighs dry with paper towels and place them skin-side up on the prepared sheet pan.

Brush the chicken thighs generously with the maple glaze, reserving some for later.

Roast the chicken in the preheated oven for 30-35 minutes until the skin is golden and crispy, and the internal temperature reaches 165°F (74°C).

After roasting, brush the remaining glaze over the chicken and broil for an additional 2-4 minutes until the glaze bubbles and caramelizes.

Let the chicken rest for 5 minutes, then sprinkle with chopped fresh thyme or parsley before serving.