In a medium mixing bowl, whisk together olive oil, soy sauce, and balsamic vinegar until blended. Then, add minced garlic, Dijon mustard, brown sugar, black pepper, kosher salt, dried rosemary, and Worcestershire sauce. Stir until well combined.

Place your steak into a large zip-top bag or a shallow dish. Pour the marinade over the steak, ensuring it is fully submerged. Seal the bag or cover the dish tightly, then refrigerate for at least 1 hour or ideally 4-6 hours or overnight.

Preheat your grill to high heat, aiming for around 450-500°F. Remove the steak from the marinade and let excess drip off. Discard any leftover marinade.

Place the marinated steak on the hot grill and cook for 4-5 minutes on each side for a perfect medium-rare finish.

Once done, remove steak from the grill and let it rest on a cutting board for 5 minutes. Slice against the grain and serve.