Halve the avocados and remove the pits. Using a spoon, gently loosen the flesh from the skin without removing it.
In a small bowl, combine the olive oil, minced garlic, salt, and pepper. Brush this mixture over the cut surfaces of the avocados.
Preheat your grill to medium heat. If using a wire grill grate, lightly oil it to prevent the avocados from sticking.
Place the avocados cut-side down on the grill and cook for 2-3 minutes, or until they develop light grill marks and are slightly charred.
Flip the avocados over and brush them with BBQ sauce. Leave them on the grill for another minute, allowing the sauce to slightly caramelize.
Remove the avocados from the grill, and squeeze fresh lime juice over them before serving. Garnish with fresh cilantro. Serve warm.
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