Heat a cast-iron skillet over medium-high heat. Rub steaks on both sides with the cut side of a garlic clove. Finely chop 1 sprig of rosemary. Season steaks with salt, pepper and rosemary, drizzle with EVOO and cook 9-10 minutes, turning once for medium-rare. Rest meat and thinly slice against grain.
Meanwhile, place shallot, arugula, basil, parsley, thyme or oregano, sage, leaves of remaining sprig of rosemary, 1 clove of garlic grated or pasted, salt, pepper, vinegar and about 1/2 cup EVOO in a food processor. Pulse into a finely chopped herb sauce. If too thick, add another tablespoon of EVOO or vinegar, you want a spoonable sauce.