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1
Combine first 4 ingredients and juice of 1 lemon half; set aside.
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2
Remove giblets and neck from turkey; reserve for other uses. Rinse turkey with cold water; pat dry. Tie ends of legs to tail with cord if legs are not tucked under flap of skin. Lift wingtips up and over back, and tuck under bird.
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3
Place turkey on rack of a roasting pan, breast side up; rub turkey with other lemon half, squeezing juice over turkey. Spray turkey with cooking spray. Insert meat thermometer into meaty part of thigh, making sure it does not touch bone.
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4
Bake at 325 degrees for 3 hours or until meat thermometer reaches 185 degrees, basting every 30 minutes after the first hour with Madeira mixture. If turkey starts to brown too much, cover with aluminum foil.
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5
When turkey is 2/3 done, cut the cord or band of skin holding drumsticks to tail; this will ensure that thighs are cooked internally. Turkey is done when drumsticks are easy to move up and down. Let stand 15 minutes before carving.
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6
Measure remaining basting mixture and pan juices from turkey. Using 1 tablespoon cornstarch to each cup of drippings, combine cornstarch and 1/4 cup water, stirring until smooth; stir into pan drippings. Bring to a boil; boil 1 minute, stirring constantly. Serve.
