Boil the taro in water for 1 hour or until tender. In another saucepan, combine remaining ingredients over low heat. Cover and let steep while the taro cooks. Drain the taro and transfer to a mixing bowl. Pass the infused milk through a sieve to remove the solids and add to the bowl of taro. Mash the taro as you would potatoes. Season with salt and pepper, to taste.
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