Whisk maple syrup, Dijon, brown sugar, vinegar, and cloves in a saucepan.

Simmer over medium heat, stirring, until slightly thickened, about 5 minutes.

Reheat a fully cooked ham following its package or full recipe. Brush with half the warm glaze during the final 30 minutes.

Brush with remaining glaze during the final 15 minutes; continue reheating to the specified endpoint.

For table service, reserve a clean portion before any brush touches the ham.