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Heat oven to 190C/fan 170C/gas 5. Starting at the neck, carefully loosen the breast skin away from the flesh, trying not to tear it, then place a branch of rosemary down the side of each one. Put the rest of the rosemary in the cavity. Season the chicken inside and out, place in a roasting tin, then sit an onion in each corner of the tin. Drizzle the olive oil over the chicken and onions, then roast everything for 1 hr 20 mins.
Meanwhile, stir the vinegar and honey together until the honey has dissolved. When the chicken has had about 40 mins, whip it out of the oven, drizzle the chicken and onions with the vinegar mix, then continue to roast until the time is up. Remove the chicken to rest, turn the onions over and continue to roast them in the oven while the chicken rests, about 20 mins. Serve each person a portion of chicken, a roasted onion and some of the sticky pan juices.
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