Preheat grill for high heat. Rub each steak lightly with olive oil (this insures the steak won't stick to the grill). Season with salt and pepper to taste. Rub fresh garlic into both sides of each steak, leaving bits of garlic on each. Let stand for 15 minutes. Place steaks on the preheated grill, and immediately turn after 30 seconds (this first turn is to ensure that one side is seared). Place the fresh rosemary sprigs on top. Cook 7 minutes per side, or to desired doneness, remembering to remove the rosemary sprigs before turning, and to replace them back on top of the meat after turning.
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