Season tenderloin with salt and pepper. In a small bowl, combine the garlic and rosemary together and rub on the tenderloin.

In a large bowl, mix the balsamic vinegar, Worcestershire sauce, and olive oil together. At the tenderloin to the bowl and coat with the mixture.

Cover and place in the refrigerator for 1-2 hours. Remove from fridge and let sit on counter for 30 minutes to come to room temperature.

Preheat oven to 400 degrees. Place pork in a baking dish and bake at 400 degrees for about 30 minutes, turning halfway through. You want an internal temperature of 140 degrees.

Cover and let rest for 5 minutes before slicing. Serves 4-6 depending on the size of the pork tenderloin.