Sprinkle the both sides of each slice of pork generously with garlic, rosemary, salt, and pepper. Cover with Saran and let set in fridge until 20 minutes before cooking. 20 minutes before grilling, let the meat sit at room temperature.
Grill meat with Indirect/Medium Heat, meaning if you have a three burner grill, put meat in center and only have the side burners on.
Cook for 10 to 12 minutes, turn and brush pieces with glaze. Cook until browned and thoroughly cooked, about 10 to 12 minutes longer, then baste again and let sit another minute.