Preheat the oven to 325°F (165°C).
In a small saucepan, combine the maple syrup, brown sugar, Dijon mustard, apple cider vinegar, and ground cloves. Cook over medium heat until the sugar has dissolved and the mixture is smooth, about 5 minutes.
Place the ham in a roasting pan and pour the glaze over the ham, making sure to coat it evenly.
Cover the ham with foil and roast for 1 hour. Remove the foil and continue to roast for another 1 hour, basting the ham occasionally with the glaze.
Remove the ham from the oven and let it rest for 10 minutes before slicing. Serve warm.
Enjoy your delicious maple glazed ham!