Combine the orange juice, avocado oil, vinegar, honey, garlic, rosemary, salt, and pepper in a large bowl. Whisk well. Add the chicken thighs and toss in the marinade to coat. Marinate for 30 minutes.
Preheat the oven to 400 F and line a large baking sheet with parchment paper.
Add the carrots, asparagus, and orange slices to the sheet pan.
Leaving the marinade in the bowl, add the chicken to the sheet pan. Spoon about 1/4 cup of the marinade over the vegetables and toss to coat. Reserve the remainder of the marinade to make the glaze.
Transfer to the oven and bake for 35-40 minutes or until the vegetables are tender and the chicken is cooked through.
To make the glaze, add the marinade to a small saucepan and whisk in 1 tsp of arrowroot starch. Bring to a boil for at least 5 minutes. The temperature of the glaze should be 165 F to kill off any bacteria and the glaze should be thick. Add 1-2 tbsp of chicken broth if a thinner glaze is desired. (see notes about alternatives).
Spoon the glaze over the cooked chicken and vegetables and serve fresh.