Prepare the tea base: Bring 4 cups of water to a boil in a medium saucepan. Once boiling, remove from heat and add tea bags. Let steep for 5 minutes for a robust flavor without bitterness.
Infuse the aromatics: While the tea is still hot, add 3 sprigs of rosemary (slightly bruised by rubbing between your palms to release oils) and the cinnamon stick if using. Cover and let steep for an additional 5 minutes.
Add the citrus: Juice 2 oranges to yield approximately 1/2 cup of fresh orange juice. Remove tea bags and strain the tea mixture into a heat-resistant pitcher to remove rosemary leaves and cinnamon.
Sweeten while warm: Add honey or maple syrup to the hot tea and stir until completely dissolved. This ensures even sweetness throughout the drink.
Dilute and cool: Add the remaining 2 cups of cold water and the fresh orange juice to the pitcher. Stir well to combine all flavors.
Chill thoroughly: Refrigerate for at least 2 hours until completely cold. For faster cooling, add ice cubes directly to the pitcher, but note this will dilute the tea slightly.
Serve with flair: Pour over ice-filled glasses, garnish with fresh orange slices and a small sprig of rosemary in each glass. For added visual appeal, slightly bruise the garnish rosemary to release its aromatic oils.