Preheat oven to 350 degrees. Place whole chicken in a baking dish and brush with olive oil. Bake for about an hour (chicken will not be all the way done).
Pull chicken from the oven and remove the meat from the bone. Mix together half the balsamic vinegar and all the mustard. Evenly coat the chicken with the mixture.
Increase the oven temperature to 400 degrees.
In a large bowl, combine the broccoli, sweet potatoes, onions and figs. Coat with remaining Balsamic Vinegar, salt, ¼ cup olive oil, rosemary, oregano, black pepper and garlic. Stir until vegetables are evenly coated.
Spread the vegetable mixture on a baking sheet and cook for 10-15 minutes or until they start to brown along the edges. Add the chicken to the baking sheet and cook an additional 15-20 minutes. Remove from the oven and let rest 3-5 minutes.
