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Trim fat from meat. For rub, in a small bowl, stir together oregano, cracked pepper, lemon peel, 1/2 teaspoon salt, and two of the garlic cloves. Sprinkle mixture evenly over meat; rub in with your fingers. Brush eggplants, sweet peppers, and onion with oil.
For a charcoal grill, arrange hot coals around a drip pan. Test for medium-hot heat above pan. Place meat on grill rack over drip pan. Place vegetables around edge of grill rack directly over coals. Cover and grill for 10 to 12 minutes or until vegetables are tender, turning once halfway through grilling. Remove vegetables from grill. Cover and continue grilling meat for 30 to 40 minutes more or until medium-rare (140°F). (For a gas grill, preheat grill. Reduce heat to medium-high. Adjust for indirect cooking. Grill as above.)
Remove meat from grill. Cover with foil; let stand for 15 minutes. (The meat's temperature will rise 5°F during standing.)
Meanwhile, for relish, coarsely chop grilled vegetables. In a medium bowl, combine grilled vegetables, the remaining one garlic clove, tomatoes, olives, basil, vinegar, 1/4 teaspoon salt, and ground black pepper. Slice meat. Serve meat with relish.