Bring the kangaroo steaks to room temperature. Season both sides generously with salt and pepper.
In a bowl, combine the olive oil, crushed garlic, chopped rosemary, and lemon juice. Place the steaks in the marinade and let them rest for 30 minutes.
Heat a grill or grill pan to high heat. Cook the steaks for 2-3 minutes per side, until they develop a nice golden-brown crust. The internal temperature should reach 125-130°F (52-54°C) for medium-rare.
After grilling, let the steaks rest for 5-10 minutes to allow the juices to redistribute.
Meanwhile, grill the vegetables until they are slightly charred and tender.
Serve the kangaroo steak with the grilled vegetables. Offer fresh bread slices or mashed potatoes on the side.
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