In a mixing bowl, combine the olive oil, soy sauce, balsamic vinegar, Worcestershire sauce, and Dijon mustard. Whisk until ingredients are well blended.
Add minced garlic, black pepper, salt, rosemary, and thyme to the marinade. Whisk again to incorporate all the flavors.
Place the steak in a gallon-sized resealable plastic bag or a shallow dish. Pour the marinade over the steak, ensuring it’s well-coated. Seal the bag or cover the dish.
Refrigerate the steak in the marinade for at least 30 minutes, or up to 6 hours for maximum flavor. Do not marinate for more than 24 hours as it can affect the texture of the meat.
Preheat your grill or grill pan to medium-high heat.
Remove the steak from the marinade and let the excess marinade drip off. Discard the remaining marinade.
Place the steak on the grill and cook for about 4-6 minutes per side, or until it reaches your desired level of doneness.
Once cooked, remove the steak from the grill and let it rest for at least 5 minutes before slicing.
Slice the steak against the grain and serve immediately.