In a small bowl, combine olive oil, minced garlic, chopped rosemary, chopped thyme, salt, black pepper, and lemon juice. Mix well to create a marinade.
Place the lamb steaks in a shallow dish or a resealable plastic bag. Pour the marinade over the lamb, ensuring it is well coated. Cover the dish or seal the bag and refrigerate for at least 1 hour, or up to overnight for more flavor.
Preheat your grill to medium-high heat. Remove the lamb from the marinade and let any excess drip off. Discard the marinade.
Grill the lamb steaks for about 4-5 minutes on each side for medium-rare, or until they reach your desired doneness. Use a meat thermometer to check for an internal temperature of 145°F for medium-rare.
Once cooked, remove the lamb from the grill and let it rest for 5 minutes before slicing. Serve warm with your choice of sides.