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When cool enough to handle, squeeze the roasted garlic pulp into a small bowl. Add mayonnaise, rosemary, 1/4 teaspoon pepper and 1/8 teaspoon salt. Stir and gently mash together, leaving large pieces of garlic intact to create a chunky sauce.
Pat steaks dry and cut into 4 equal portions. Sprinkle with the remaining 1/4 teaspoon each salt and pepper. Heat 1 tablespoon oil in a large skillet over medium-high heat until very hot, but not smoking. Add the steaks and cook until browned on the bottom, 2 to 4 minutes. Turn over, reduce heat to medium-low and cook to desired doneness, 3 to 5 minutes for medium-rare. Serve the steaks with about 1 1/2 tablespoons aioli each.