In a bowl, mix the Dijon mustard, olive oil, lemon zest, and lemon juice together. Place the beef in the marinade, cover with foil or plastic wrap, and refrigerate for at least 4 hours or overnight, turning the meat every 2-3 hours.
Preheat the oven to 100°C (212°F) with top/bottom heat. Heat olive oil in a large pan over medium-high heat until it shimmers. Sear the beef on all sides for 1-2 minutes per side until browned. Transfer to a baking dish and add the garlic cloves and rosemary stalks around the meat. Insert a meat thermometer into the thickest part of the meat.
Place the baking dish in the oven and reduce the oven temperature to 90°C (194°F) with top/bottom heat. Roast until the meat thermometer reaches 58°C (136°F), approximately 90-120 minutes depending on the thickness of the meat. Turn off the oven and leave the meat inside to rest for 5 minutes.
Remove the baking dish from the oven. Transfer the meat to a cutting board and slice. Serve with rosemary potatoes, vegetables such as green beans or Brussels sprouts, or a fresh salad.
For the sauce, mix meat broth concentrate with water and red wine to taste. Serve the beef with the sauce and a dry red wine.