Rosemary Beef With Root Vegetables

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1 lb new potatoes, quartered

3/4 lb parsnips, cut diagonally into 1 1/2-inch pieces

1/2 lb carrots, cut diagonally into 1 1/2-inch pieces

4 teaspoons chopped fresh rosemary, divided

1 teaspoon salt, divided

3/4 teaspoon freshly ground black pepper, divided

3 teaspoons olive oil, divided

Vegetable oil cooking spray

1 lb beef (center-cut eye of round roast), about 3 inches in diameter

1 teaspoon finely chopped garlic

1/2 cup nonfat plain Greek yogurt

2 1/2 tablespoons drained bottled horseradish

2 teaspoons white wine vinegar

2 tablespoons snipped fresh chives or chopped fresh parsley

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