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Cut off the top 1/2 inch of the garlic head to expose the ends of the individual cloves. Leaving the head whole, remove any loose, papery outer layers.
Fold a 20-by-18-inch piece of heavy foil in half crosswise; trim to make a double-thick 10-inch square. Place garlic, cut-side up, in the center. Sprinkle with basil and rosemary; drizzle with oil. Bring up two opposite edges of foil; seal with a double fold. Fold the remaining ends to completely enclose the garlic, leaving space for steam to build.
For a charcoal or gas grill, grill garlic in foil packet on the rack of a covered grill directly over medium heat for about 30 minutes or until garlic is softened when packet is squeezed, turning occasionally during grilling.
Meanwhile, trim fat from steaks. Sprinkle pepper and salt evenly over both sides of each steak; rub in with your fingers. While garlic grills, add steaks to grill. Cover and grill until steaks reach desired doneness, turning once halfway through grilling time. For ribeye steaks, allow 10 to 12 minutes for medium-rare (145°F) or 12 to 15 minutes for medium (160°F). For sirloin steak, allow 14 to 18 minutes for medium-rare (145°F) or 18 to 22 minutes for medium (160°F).
Remove garlic from foil, reserving herb mixture. Squeeze garlic pulp onto steaks. Mash pulp slightly, spreading it over steaks. To serve, cut steaks into six serving-size pieces. Drizzle steaks with the reserved herb mixture.