Position oven rack to the upper part of the oven; preheat broiler. Add the balsamic vinegar to a small saucepan. Heat over medium heat until it simmers. Reduce heat to a low simmer for about 10-15 minutes until it starts to thicken. Turn off the heat; add to a small bowl to cool. Remove the stem of the figs, cut a deep “X” on the top. Break the goat cheese into pieces and stuff into the figs. Broil the figs for about 5 minutes or until the cheese starts to bubble and brown. Remove from the oven and top with pistachios and drizzle with the balsamic glaze. Serve warm.