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Trim fat from meat. Using the tip of a sharp knife, cut 1-1/2-inch-deep slits into the pork at 2- to 3-inch intervals.
Using a mortar and pestle, mash together garlic, rosemary, lemon zest, salt and pepper until a paste forms. Slowly add oil to the mixture, mashing until combined.
Using your fingers, press garlic paste into the slits in the pork, making sure to press paste all the way into slits. Rub any remaining paste over the roast.
To secure the roast on a spit rod, place one holding fork on the rod, tines toward the point. Insert rod through the narrow end of the roast, pressing the tines of the holding fork firmly into meat. Place second holding fork on rod with tines toward roast; press tines of holding fork firmly into meat. Adjust forks and tighten screws. Test balance, making adjustments as necessary.
Arrange medium coals around a drip pan in a charcoal grill. Test for medium-low heat above the pan. Attach spit; turn on the motor and lower the grill hood. Let the roast rotate over the drip pan for 1 1/2 to 2 hours or until an instant-read thermometer inserted into the center of the roast registers 155°F. Add hot coals as needed to maintain temperature. (For a gas grill, preheat grill. Reduce heat to medium-low. Adjust for indirect cooking. Grill as above.)
Remove roast from spit. Cover with foil. Let stand for 15 minutes. The temperature of the meat after standing should be 160°F.
If desired, serve with grilled lemon halves and parsley sprigs.