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Preheat oven to 425°F. In a small bowl, combine garlic, thyme, salt and pepper. Sprinkle on pork; rub in with your fingers. Place pork on a rack in a shallow roasting pan.
Roast, uncovered, for 25 to 30 minutes or until an instant-read thermometer registers 145°F. Remove pork from pan. Cover; let stand for 10 minutes.
Meanwhile, in a large skillet, cook bacon over medium heat until it begins to brown. Add kale and walnuts. Cook for 4 to 6 minutes or until bacon is cooked through, walnuts are lightly toasted and kale is tender. Remove kale mixture from the skillet and set aside.
Add broth and barley to the same skillet. Bring to a boil; reduce heat. Cover and simmer for 10 to 12 minutes or until barley is tender, adding figs for the last 1 minute of cooking. Drain, if necessary. Stir in kale mixture and vinegar. Slice pork and serve with barley mixture.