Preheat your oven to 400°F (200°C). Wrap the medium beets in aluminum foil. Roast for 35–45 minutes until fork-tender. Allow to cool slightly.

While the beets cool, peel the orange and grapefruit. Segment the fruits over a bowl to capture the juice.

In a medium bowl, combine the olive oil, lemon juice, orange juice, honey, and Dijon mustard. Whisk until smooth.

Once cooled, peel the skin off the beets and slice them into wedges. In a serving bowl, combine beets, arugula, citrus segments, and goat cheese.

Drizzle the vinaigrette over the salad and toss gently to combine. Top with toasted walnuts.