Combine egg yolks, mustard, garlic, and a pinch of salt in a medium bowl set on top of a kitchen towel laid across a small heavy pot (this setup will anchor the bowl while you whisk so you have a free hand for pouring). Whisking constantly, add oil to egg mixture, starting with just a few drops and gradually increasing amount to a fine steady stream. Stop adding if there is any unincorporated oil in the bowl; going slow is key. Keep whisking until emulsified, then whisk in lemon juice. Taste and season aioli with more salt if needed. Serve with vegetables and proteins of choice.