Put the mustard, garlic, onion, rosemary, sage, thyme, lemon and orange zest, sea salt, pepper, and olive oil in a bowl and mix well.
Place the turkey legs in a roasting pan. pour the marinade all over the legs. With your hands, wearing gloves if you prefer, massage marinade in every nook and cranny.
Tuck the dates and figs around the legs. Add the lemon and orange juice, wine, and stock to a bowl. Mix and pour all over turkey legs and fruit. Cover with parchment paper and aluminum foil and bake for 2:30 to 3 hours.
Uncover and continue roasting until skin is crispy and has a nice dark golden color, about 25 minutes.
Remove the pan from the oven, cover tightly with foil, and let rest for ten minutes before serving. Enjoy.