In a saucepan, pour the milk. Add the tapioca, vanilla, egg yolk, and salt. Stir well with a whisk. Let rest for 5 minutes.
Bring to a boil over low heat, stirring constantly with a spatula, scraping the bottom and sides of the pan. Simmer very gently for about 15 minutes, stirring frequently or until the tapioca becomes translucent. Transfer to a large bowl. Set aside while preparing the maple mousse.
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