Instant Pot Pot Roast with Balsamic and Rosemary

Name: Instant Pot Pot Roast with Balsamic and Rosemary
Ingredients: 1 (2 1/2- to 3-pound) boneless beef chuck pot roast; 2 teaspoons salt; 1 teaspoon ground black pepper; 1 tablespoon vegetable oil; 1 jumbo (12-ounce) onion , sliced; 4 cloves garlic , chopped; 2 (4-inch) sprigs fresh rosemary; 3/4 cup beef broth or vegetable broth; 1/4 cup aged balsamic vinegar; 1 1/2 pounds new potatoes (halved if over 1 1/2 inches in diameter, quartered if even larger); 1 pound baby carrots (or regular carrots, peeled and cut into 1/2-inch rounds); 1 tablespoon chopped fresh parsley , for serving (optional)