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Cool 1 hour on a wire rack. Combine 1 cup firmly packed dark brown sugar, 1/2 cup milk, 2 Tbsp. butter, and 1/4 tsp. salt in a large saucepan. Bring to a boil over medium-high heat, stirring occasionally. REDUCE HEAT TO MEDIUM-LOW, and simmer, stirring occasionally, 5 minutes or until slightly thickened. Remove from heat. Let stand 5 minutes. Beat in 1 1/2 cups powdered sugar and 1/2 tsp vanilla extract at medium speed (approx. 3-5 minutes) with an electric mixer until smooth and just beginning to thicken, but still pour-able. Pour over brownies, spreading to edges. Sprinkle with toasted pecans and press them into the frosting. Cool 30 minutes. Cut into 24 bars.
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