Preheat oven to 450 degrees. Place beets in a 12-inch square piece of foil. Drizzle with 1 tablespoon oil and season with salt and pepper; fold foil into a packet. Roast until beets are easily pierced with a paring knife, 30 to 45 minutes. When cool enough to handle, peel beets and cut into wedges.
Whisk together yogurt, vinegar, and 2 tablespoons oil; season dressing with salt and pepper. Thin as desired with 1 to 2 tablespoons water. Divide lettuce among plates and top with beets, tarragon, pistachios, and dressing. Serve immediately.
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