Grilled Steak and Zucchini

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1 pound baby red-skinned potatoes

1 clove garlic, smashed

Kosher salt

2 1/2 tablespoons extra-virgin olive oil

2 teaspoons chopped fresh rosemary

2 teaspoons chopped fresh thyme

1 teaspoon finely grated lemon zest

1 1/2 pounds beef tri-tip, cut lengthwise into 4 steaks

1 tablespoon fresh lemon juice

1 tablespoon finely chopped fresh parsley

Freshly ground pepper

2 medium zucchini, sliced diagonally 1 inch thick