Greek Yogurt Onion Dip

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1 tablespoon olive oil

1 cup chopped shallots (about 2 large shallots; 1/3 pound)

Kosher salt

1 teaspoon balsamic vinegar

1 cup 2-percent Greek yogurt

1/4 cup 1-percent milk

1/4 cup chopped fresh chives

Freshly ground black pepper

Cut-up vegetable sticks, low-salt pretzels or pita chips, for serving