This paper presents a new analysis of the thermal emission from the neutron star surface to constrain the dense matter equation of state. It is based on the use of a Markov-Chain Monte Carlo algorithm combined with an empirical parametrization of the equation of state, as well as the consistent treatment of seven neutron star quiescent low-mass X-ray binaries in globular clusters with well-measured distances. Previous analyses have indicated that the thermal emission of these neutron stars tends to prefer low neutron star radii, questioning basic knowledge from nuclear physics. We show that it is possible to reconcile the thermal emission analyses with nuclear physics knowledge, with or without including a prior on the slope of the symmetry energy $L_{rm sym}$. We obtain radii of the order of about 12~km without worsening the fit statistic. With an empirical parametrization of the equation of state, we obtain the following values for the slope of the symmetry energy, its curvature $K_{rm sym}$, and the isoscalar skewness parameter $Q_{rm sat}$: $L_{rm sym}=37.2^{+9.2}_{-8.9}$ MeV, $K_{rm sym}=-85^{+82}_{-70}$ MeV, and $Q_{rm sat}=318^{+673}_{-366}$ MeV. For the first time, we measure the values of the empirical parameters $K_{rm sym}$ and $Q_{rm sat}$. These values are only weakly impacted by our assumptions, such as the distances or the number of free empirical parameters, provided they are taken within a reasonable range. We also study the weak sensitivity of our results to the set of sources analyzed, and we identify a group of sources that dominates the constraints. The resulting masses and radii obtained are also discussed in the context of the independent constraints from GW 170817 and its electromagnetic counterpart, AT 2017gfo.
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