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Combine the Dr. Pepper, dry rub, Worcestershire sauce, garlic and salt in a mixing bowl. Stir to combine.
Place ribs in a zip-top bag and pour in marinade. Let sit overnight or for a minimum of 4 hours. Turning the bag to redistribute the marinade at least once.
Preheat oven to 300˚F. Remove ribs from marinade and pat dry with paper towels.
Transfer to a baking sheet and cover with foil. Bake ribs for 3 – 3.5 hours.
During the final 30 minutes of baking, remove the foil and baste with BBQ sauce if desired.
Preheat grill to medium-high. Remove ribs from the oven and allow them to rest while the grill heats.
Grill for about 10 minutes, beginning with the meat side down and turning once.
If using BBQ sauce, baste when turning and again before serving (3 times total).