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Preheat grill to medium. (No grill? Preheat broiler to high and follow the broiler variation for Step 5.)
Combine breadcrumbs and pesto in a small bowl. Combine oil, vinegar, pepper and salt in a medium bowl; set aside.
Lay pork on a large cutting board. Holding the knife blade flat, parallel to the board, make a lengthwise cut through the center of the meat, stopping short of the opposite edge so it remains in one piece. Open as you would a book. Cover with plastic wrap. With a meat mallet or rolling pin, pound to an even 1/4-inch thickness. With a long side closest to you, spread the breadcrumb mixture over the pork, stopping 1 inch from the opposite edge. Starting at the side closest to you, roll up the pork. Brush with 1 tablespoon of the oil mixture (set the rest aside).
Slice the pork crosswise into 8 pinwheel slices. Put 2 pinwheels each on four 10- to 12-inch skewers, about 1 inch apart, threading the skewers through the meat to keep the pinwheel shape intact. (Put the smaller end pieces on the same skewer; they’ll cook more quickly and may be done before the bigger pieces.) Toss peaches with the reserved oil mixture; thread onto the remaining two skewers.
Oil the grill rack. Place all the skewers on the grill, arranging the pork skewers flat-side down. Grill, turning once, until the peaches are soft and the pork registers 145°F on an instant-read thermometer: 3 to 5 minutes for the peaches, 8 to 10 minutes for the pork. (Broiler variation: Place skewers on an oiled broiler pan or a wire rack set on a large baking sheet. Broil, turning once, 2 to 4 minutes per side for the peaches, 5 to 6 minutes for pork.)