In a bowl, whisk together the vinegar, mustard and oil. Add the orange, endives and shallot. Stir to combine. Season with salt and pepper.
Halve the avocados lengthwise and remove the pits. Using a knife, cut the flesh of each avocado half in a crosshatch pattern. Season with salt and pepper.
Place the avocado halves on 4 salad plates. Top with the endive salad.
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