Combine the garlic, thyme, rosemary, and canola oil in a small bowl.
Rub mixture over the lamb and let it come to room temperature.
Pre-heat your grill until hot for about 5 minutes if using a charcoal grill, or about 15 minutes on medium-high if using gas.
Season the lamb heavily with kosher salt and freshly ground pepper.
Clean and oil the grill grates.
Sear the lamb bone side down first and rib bones facing away from the flames so they don't char, over a medium part of the grill for about 5 minutes per side with the lid closed. Be very careful of flare-ups.
Once you have nice grill marks, move the rack indirect heat to finish cooking until the internal temperature reaches 120 to 125 degrees for medium-rare, or 130 to 135 degrees for medium.
Rest the lamb for 10 to 15 minutes on a cutting board tented with aluminum foil, then slice between the rib bones.
Serve with the mint chimichurri and salad or your favorite veggie. Sprinkle some coarse salt on each piece of lamb before serving.