Preheat oven to 400F. Lightly oil a large rimmed baking sheet, and place endive and onion on it, cut side down. Roast for 20 minutes.
Meanwhile, whisk vinaigrette ingredients in a large bowl.
When roasting is done, gently flip vegetables and add shrimp, then return to oven for another 15 minutes, until shrimp is just cooked and vegetables are golden-brown and tender.
Add veggies and shrimp to bowl with vinaigrette, gently toss. Serve, drizzling any remaining vinaigrette.
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