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Combine vinegar, olive oil, agave nectar, garlic, oregano, thyme, salt and pepper in a mixing bowl to make a marinade and set aside. Gently press tofu to remove as much liquid as possible, then cut into 8 equal slices. Poke the tofu in several places with a fork. Pour balsamic marinade over tofu and marinate for 15 to 20 minutes.
Preheat the oven to 400°F.
Remove tofu and arrange in a shallow 9x13-inch baking dish along with mushrooms, onions and carrots. Pour remaining marinade over tofu and vegetables, brushing to coat everything. Cover tightly with foil and bake for 20 minutes. Uncover and bake for an additional 10 minutes more. Turn the tofu and continue to bake 10 minutes more.
Meanwhile, prepare apples. Heat canola oil in a large skillet over medium heat. Add apples and cook, stirring occasionally, until tender and lightly browned but not mushy, about 10 to 15 minutes. Serve tofu and vegetables alongside apples.