Preheat the oven to 350 degrees F (175 degrees C). Place pork roast into a shallow roasting pan.
Stir maple syrup, mustard, vinegar, soy sauce, salt, and pepper together in a small bowl; spread evenly over pork roast.
Cook, uncovered, in the preheated oven until pork is slightly pink in the center, about 1 hour. An instant-read thermometer inserted into the center should read at least 145 degrees F (63 degrees C). Remove from oven and let rest for about 10 minutes before slicing.