Oh my gosh are these artichokes addictive!! The smoky flavor from the grill with that vinegary marinade, finished off with the garlicky aioli makes for one AMAZING bite!!!
Trim the stems (about ½ inch) and about 1 inch from the tops.
Bring a gallon of salted water to a boil in a large pot. Squeeze lemon halves into water and add to water, along with trimmed artichokes. Simmer artichokes and cook until tender, about 15-20 minutes. Remove artichokes with tongs and let any excess water drip from tops. Drain on paper towels and set aside until cool enough to handle.
Cut each artichoke in half and then in half again. Remove the hairy choke using a spoon or grapefruit spoon and discard. Set aside in large bowl or large gallon ziptop bag.
In a medium bowl, whisk together the balsamic vinegar, 4 cloves of garlic, rosemary, olive oil, pepper, and salt to taste. Pour over the artichokes and toss together to coat. Marinate for at least 30 minutes.
Prepare garlic aioli. In small bowl, mix together mayonnaise, garlic, parsley, lemon juice, salt & pepper. To thin out, if needed, add a few dashes of milk and stir.
Prepare gas or charcoal grill for high heat.
Using tongs, place the artichokes on the grill and cook for about 2-3 minutes per side until well charred.
Remove from the grill and drizzle with remaining marinade. Serve warm with garlic aioli.