Preheat your grill to medium heat, or prepare the charcoal until it's glowing.
Lightly brush the sausages with olive oil to prevent them from sticking to the grill and to promote even browning.
Place the sausages on the grill rack and cook for 4-5 minutes per side, until they are golden brown and have a crispy skin.
While grilling, place the rosemary sprigs and garlic cloves on the grill as well to infuse the sausages with an aromatic flavor.
If desired, grill a few slices of bread until lightly toasted and crispy.
Serve the grilled sausage with fresh vegetables, mustard, and grilled bread. You can also offer additional sauces or pickles.
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