01 - Rinse millet thoroughly under cold running water. Combine millet, 2 cups water, and 1/2 teaspoon salt in a medium saucepan. Bring to a rolling boil over medium-high heat, then reduce to low, cover, and simmer for 15 minutes until all liquid is absorbed and grains are tender. Remove from heat and let stand covered for 5 minutes. Fluff with a fork and set aside to cool completely.
02 - Using a sharp knife, slice away the peel and white pith from the orange and grapefruit. Carefully cut between the membranes to release individual segments, catching any reserved juice in a bowl below.
03 - In a small bowl, combine extra-virgin olive oil, fresh lemon juice, orange juice, Dijon mustard, and maple syrup if using. Season with salt and black pepper to taste. Whisk vigorously until the dressing is fully emulsified and creamy.
04 - In a large mixing bowl, combine the cooled millet, diced avocado, halved cherry tomatoes, diced cucumber, finely chopped red onion, citrus segments, chopped parsley, mint, and cilantro. Toss gently to distribute the ingredients evenly.
05 - Drizzle the citrus vinaigrette over the assembled salad. Fold gently with a large spoon or spatula, taking care not to crush the avocado pieces. Serve immediately at room temperature, or refrigerate for 30 minutes to allow the flavors to meld together.