Combine the garlic, onion, parsley, basil, mustards, salt, pepper, olive oil, and lemon juice. Add the shrimp and allow them to marinate for 1 hour at room temperature or cover and refrigerate for up to 2 days.
Prepare a charcoal grill with hot coals, and brush the grilling rack with oil to prevent the shrimp from sticking. Skewer the shrimp. I use 5 or 6 shrimp on a 12-inch skewer for a dinner serving.
Grill the shrimp for 1 1/2 minutes on each side.
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