Trim the pork tenderloin and slice it into even medallions, approximately 2 cm (¾ inch) thick.
In a bowl, whisk together the olive oil, minced garlic, fresh rosemary, salt, black pepper, and lemon juice. Generously coat the pork medallions with this marinade.
Let the pork marinate for at least 30 minutes to allow the flavors to meld.
Preheat your grill to medium heat. Lightly oil the grill grates to prevent sticking.
Place the marinated pork medallions on the hot grill and cook for 3-4 minutes per side, until they develop a nice golden-brown crust and remain juicy inside.
Remove the grilled pork tenderloin medallions from the grill and let them rest for 5 minutes to allow the juices to redistribute throughout the meat.
Serve the grilled pork tenderloin medallions with a fresh salad, grilled vegetables, or a light potato side dish.
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