In a large bowl, combine garlic, herbs, olive oil, lemon juice, salt, and pepper.
Add the eggplant slices and toss to combine. Let the eggplant marinate for at least 30 minutes.
Heat a grill to medium-high heat. Oil the grates with oil to prevent sticking.
Grill the eggplant for 4-5 minutes per side, or until lightly charred and tender.
Serve the grilled eggplant with a sprinkle of fresh herbs and lemon wedges, if desired.