Pat lamb dry with paper towels and place it on a rimmed baking sheet.

In a bowl, combine olive oil, thyme, rosemary, orange zest and juice, minced garlic cloves, salt, and pepper.

Rub the mixture all over the lamb.

Cover with plastic wrap and marinate at room temperature for 2 hours or refrigerate overnight.

Prepare the sauce by blending Greek yogurt, basil leaves, mint leaves, olive oil, ginger, peeled garlic cloves, jalapeno, scallion, lime zest, and lime juice until smooth.

Taste the sauce and add more salt as needed.

Heat the grill to medium-high heat.

Wipe lamb with paper towels to remove most of the rub.

Grill the lamb until a digital thermometer reads 120°F for rare or 130°F for medium, about 6-15 minutes per side depending on thickness and desired doneness.

If the meat chars before it's done, move it to a cooler part of the grill to finish cooking.

Let the lamb rest for 10-15 minutes before slicing.

Serve the sliced lamb with the spicy lime yogurt sauce.