Step 1: Prepare the Beef Roast. Pat the boneless beef roast dry with paper towels. On a clean cutting board, make a spiral cut: starting from one end, about ½ inch from the bottom, make a continuous horizontal cut, unwrapping the roast as you go until you have a flat, approximately 1-inch thick slab. Spread the roast open.
Step 2: Season the Roast. In a small bowl, combine olive oil, salt, black pepper, chopped rosemary, thyme leaves, and minced garlic. Rub this mixture evenly over the inside surface of the flattened beef roast.
Step 3: Roll and Tie the Roast. Carefully roll the seasoned beef back into its original roast shape. Secure it tightly with kitchen twine at 1-inch intervals to hold its form. Season the exterior of the tied roast with a pinch more salt and pepper.
Step 4: Prepare the Glaze. In a medium saucepan, combine brown sugar, honey (or maple syrup), Dijon mustard, soy sauce (or Worcestershire sauce), and apple cider vinegar. Bring to a simmer over medium heat, stirring until the sugar dissolves and the glaze thickens slightly, about 5-7 minutes. Remove from heat.
Step 5: Roast the Beef. Preheat your oven to 375°F (190°C). Place the tied beef roast on a rack in a roasting pan. Roast for 45 minutes. After 45 minutes, reduce the oven temperature to 325°F (160°C).
Step 6: Glaze and Finish Roasting. Brush the roast generously with about one-third of the prepared glaze. Continue roasting for another 45-60 minutes, basting with more glaze every 15-20 minutes, until an internal temperature of 130-135°F (54-57°C) is reached for medium-rare (or your desired doneness) when a meat thermometer is inserted into the thickest part.
Step 7: Rest and Serve. Remove the roast from the oven, transfer it to a cutting board, and tent loosely with foil. Let it rest for 15-20 minutes before removing the twine and slicing against the grain to serve. The internal temperature will rise a few degrees as it rests.