Preheat oven to 300 degrees.: You will feel the oven warm and steady, though this temperature is moderate; it gently roasts the garlic without burning. Roasting at a controlled low heat encourages the garlic to caramelize slowly so it becomes tender and sweet. A common error is using too high a temperature which can char the edges, so watch the garlic after 20 minutes for even golden color.
Lightly toss garlic in olive oil. Place on baking sheet in one layer and roast for 30 minutes until golden brown. While still hot, puree roasted garlic in blender or food processor.: As the garlic roasts you should notice a softening of the cloves and a fragrant, toasty aroma filling the kitchen. The oil helps create even browning and a velvet texture. Puree while warm so the cloves mash into a silky paste that disperses into the potatoes easily. If you let the cloves cool too long, they may not puree smoothly; warm cloves blend into a creamier paste.
Meanwhile, wash potatoes in cold water. Peel if desired and cut large potatoes into quarters. Place into a large stockpot and cover with water. Bring to a boil, cook until soft. Drain and return to pot. Add pureed garlic, salt, and yogurt. Mash until combined. Gradually add skim milk until desired consistency is reached. Serve with herb gravy.: You will hear a gentle rolling boil and see the water turn cloudy as the starches leach out, a good sign the potatoes are cooking through. When a knife slides in easily, drain promptly to avoid water logged tubers. Returning them to the warm pot lets steam escape so your mash remains fluffy. Mixing in warm garlic paste and Greek yogurt creates a creamy, tangy base; add skim milk a little at a time so the texture stays pillowy rather than runny. Over mixing can make them gluey, so stop when the mash is smooth but still light.
Combine all ingredients with exception of cornstarch and cold water in a saucepot. Bring to a boil. Combine cornstarch and cold water in a small bowl and mix until smooth. The cornstarch will settle to the bottom of the bowl if the mix sits, so be sure to mix again before using.: As the broth and dried herbs heat, the aroma should shift from salty to herb forward, signaling the flavors are melding. Boiling extracts more flavor from the dried sage , thyme , and oregano , which makes the gravy more robust. Preparing the starch slurry separately prevents lumps; if you skip this you risk ending up with grainy pockets that do not dissolve properly.
Once boiling, gradually add cornstarch and water mix until gravy is thickened. Repeat the cornstarch process if needed until the desired consistency is reached. Serve over garlic mashed potatoes.: When thickening, add the slurry slowly and whisk constantly; you will see the liquid transform into a glossy, coat worthy gravy. The texture should cling to the back of a spoon, and the scent will be warmly herby. If you add too much at once, the starch can set into thick blobs. If the gravy creeps too thick, thin with a splash of warm broth to reach the ideal pourable consistency before ladling over the mash.