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In a small bowl or liquid measuring cup, whisk together the garlic, apple cider vinegar, mustard, maple syrup, olive oil, salt, and pepper. Pour the marinade in a large, sturdy ziptop bag.
Cut away the silver skin from the pork tenderloin. Trim away any large pieces of excess fat. Place pork in the bag with marinade and seal it tightly, “squishing” the bag so that the pork is coated on all sides.
Place the bag in a baking dish or on a plate to catch any drips. Refrigerate to marinate for 2 hours or up to 1 day, turning occasionally. Let stand at room temperature 30 minutes prior to grilling.
When ready to cook, preheat the grill to medium (about 350 degrees F). Make sure the grates are very clean. Remove the pork from the marinade, shaking off any excess. Discard the marinade and bag. Place the pork on the grill and cover.
Cook until the pork reaches 135 degrees F on an instant read thermometer, about 12 to 15 minutes.
Remove the tenderloin to a plate, cover, and let rest for 10 minutes before slicing and serving. Enjoy!