Rosemary-Garlic Steaks with Arugula, Tomatoes and Parmigiano-Reggiano

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4 sirloin steaks, 1-inch thick, about 10 to 12-ounces each

2 cloves garlic, cracked from skin and halved

Extra-virgin olive oil, for drizzling, plus 2 tablespoons

4 sprigs rosemary very finely chopped

Salt and freshly ground black pepper or grill seasoning, if desired

4 cups arugula leaves

1 pint multi-color, yellow or red cherry heirloom tomatoes or 2 medium vine-ripe tomatoes, cut into bite-size pieces

1 lemon

Parmigiano-Reggiano, for grating