Preheat the oven to 375F.
Toss the beets (separately if you don't want the colors to bleed) with lemon halves, olive oil, agave, rosemary, thyme, parsley, garlic, shallots, salt and pepper and roast covered with tin foil until soft through (about 30-40 minutes).
While beets are roasting, peel the apples and toss with cinnamon sugar. Roast until slightly soft (about 5-10 minutes).
To prepare the dressing, blend cider vinegar, lemon juice, shallot, garlic, honey, parsley, thyme, rosemary. Emulsify with olive oil until desired acidity is reached. Season to taste.
To serve, toss the arugula with dressing, place beets and apples on plate and top with arugula, toasted walnuts and goat cheese.