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Heat a Dutch oven over medium-high heat. Add 2 tsp. oil to pan and swirl to coat. Add onion, thyme, and rosemary; sauté 5 minutes, stirring occasionally. Transfer mixture in large bowl and set aside. Place flour in a shallow dish. Sprinkle lamb evenly with ½ tsp. salt and ½ tsp. pepper. Dredge lamb in flour, and shake off excess. Return Dutch oven to medium-high heat, add 1 tbsp. oil, and swirl to coat. Add half of lamb to pan; sauté 6 minutes, turning to brown on all sides. Add browned lamb to onion mixture. Repeat procedure with remaining lamb and remaining 1 tbsp. oil.
Add Guinness to pan; bring to boil, using a wooden spoon to loosen browned bits from the bottom. Cook until reduced to 1 c., about 5 minutes. Return onion mixture and lamb to pan. Stir in tomato paste and cook 30 seconds. Add broth and bay leaf; bring to boil. Cover, reduce heat, and simmer 1 hour and 15 minutes, stirring occasionally. Uncover and stir in potato, carrot, and turnips. Simmer, uncovered, for 1 ½ hours or until meat and vegetables are tender. Stir in remaining ½ tsp. salt, remaining ¼ tsp. pepper, and mustard. Ladle stew into serving bowls and sprinkle evenly with parsley.
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