1. Make glaze: Combine juice, vinegar and sugar in a small saucepan. Bring to a boil over medium-high heat, stirring to dissolve sugar. Lower heat and simmer until mixture has reduced to 1/2 cup, about 25 minutes. Remove from heat and whisk in mustard. (Can be made up to 3 days in advance. Cover and chill. Rewarm before continuing.)
2. Make turkey: Preheat oven to 425°F; oil a large, rimmed baking sheet. Place breast halves, legs and thighs skin side up on sheet. Drizzle with olive oil and season well with salt and pepper. Roast until lightly browned, about 30 minutes. Brush with glaze; turn several times to coat. Roast, basting often, until a meat thermometer reads 160°F (in thickest part of breast), 30 to 40 minutes longer.
3. Remove from oven and baste with juices on baking sheet. Tent with foil. Let stand for 10 minutes before carving.