Light your charcoal in the KUDU and let them burn to embers with a layer of white ash.
Turn your rack into a crown (as pictured) and tie together with butcher twine. Tuck rosemary sprigs between the twine and lamb.
Add lamb crown to grill grate over medium heat. Cook on all sides by turning occasionally.
While lamb is grilling, add veggies, garlic, and olive oil to cast iron pan over medium heat. Season with salt and pepper. Cook to al dente.
Swivel the grill away from the fire once the lamb crown is cooked to medium-rare (internal temp of 125 degrees).
Spoon veggies into lamb crown.
Swivel the grill back over the flames for a few minutes to finish.