Preheat oven to 400°F. Wash beets and trim stems. Toss with 1 tbsp olive oil and ½ tsp salt, then wrap individually in foil. Roast on a baking sheet until tender when pierced with a knife, 45 to 60 minutes. Let cool, then peel and slice.

While beets roast, reduce oven to 350°F. Toast walnuts on a baking sheet for 5 to 7 minutes until fragrant. Cool, then roughly chop.

In a bowl or jar, whisk 3 tbsp balsamic vinegar, 1 tbsp honey, 1 tsp Dijon, and minced shallot. Slowly whisk in ¼ cup olive oil until emulsified. Season with salt and pepper.

Toss arugula with a few tablespoons of dressing. Divide among plates, top with beet wedges, crumble goat cheese, and scatter walnuts. Drizzle a little more dressing over beets and serve.