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Sirloin Roast with Gravy

"This recipe is perfect for my husband, who is a meat-and-potatoes kind of guy. The peppery, fork-tender roast combined with the rich gravy creates a tasty centerpiece for any meal. —Rita Clark, Monument, Colorado..."

INGREDIENTS
1 beef sirloin tip roast (3 pounds)
2 garlic cloves, minced
1 to 2 tablespoons coarsely ground pepper
1/4 cup reduced-sodium soy sauce
3 tablespoons balsamic vinegar
1 tablespoon Worcestershire sauce
2 teaspoons ground mustard
2 tablespoons cornstarch
1/4 cup cold water
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