In a mixing bowl, whisk together honey, balsamic vinegar, olive oil, Dijon mustard, salt, black pepper, ground cumin, orange zest, dried thyme, and grated garlic until smooth. Coat the chicken thighs generously with this marinade, cover, and refrigerate for at least 30 minutes.

While the chicken is marinating, peel and score the Yukon Gold potatoes. Place them in a large pot, cover with salted water, and boil for 20-30 minutes until fork-tender. Drain and set aside.

Preheat your oven to 350°F (175°C). Clean and cut the carrots into even pieces. Toss them with olive oil, honey, balsamic vinegar, salt, black pepper, and orange zest in a bowl.

On a large sheet pan, arrange the marinated chicken thighs skin-side up. Scatter the carrots around the chicken and bake in the preheated oven for 35-45 minutes until the chicken reaches an internal temperature of 160°F.

In a small saucepan over medium-low heat, combine whole milk and butter with minced garlic and dried thyme. Heat until the butter melts. Strain and keep the liquid.

Return the drained potatoes to the pot on low heat. Mash while hot, adding the infused butter and milk mixture until smooth. Fold in crumbled goat cheese, seasoning with salt and black pepper.

In a small saucepan, combine balsamic vinegar, honey, orange juice, salt, and black pepper. Simmer until thickened, then stir in a pat of butter.

To serve, plate the mashed potatoes, top with a chicken thigh, drizzle the glaze, and scatter the roasted carrots.