Prepare the Marinade: In a mixing bowl, whisk together garlic, olive oil, salt, pepper, rosemary, thyme, balsamic vinegar, and paprika if using.
Marinate the Tenderloin: Place the tenderloin in a shallow dish. Pour marinade over the meat, coating it evenly. Cover and refrigerate for 30–120 minutes.
Preheat the Grill: Heat the grill or grill pan to medium-high (about 400°F). Lightly oil grates to prevent sticking.
Grill the Tenderloin: Cook the tenderloin 4–5 minutes per side for medium-rare, checking with a meat thermometer (130–135°F). Adjust time based on thickness.
Rest and Slice: Remove from grill, rest 5–10 minutes. Slice against the grain and serve. Optionally drizzle with extra marinade or herb sauce.