Mince garlic and combine with rosemary, salt, and pepper; rub over the pork.
Whisk together the balsamic vinegar and olive oil.
Place the seasoned pork tenderloin into a Ziploc bag and add the oil and vinegar mixture. Seal the bag and refrigerate for 4-10 hours.
Preheat oven to 400° F.
Remove the pork from the bag and place the tenderloin on a foil-lined baking dish.
Place in the preheated oven and bake 25-30 minutes until the internal temperature of the meat reaches 160° F.
While pork is baking, cook rice as directed on package.
Cut asparagus into quarters (or thirds) and toss with olive oil, salt, and pepper.
Heat a large skillet over medium and add asparagus. Cook for 4-5 minutes until crisp-tender, then remove from heat and spritz with fresh lime juice.
Allow pork to sit for 5 minutes after baking, then slice into 1/2-inch pieces. Spoon pan juice over roast before serving.
Serve rice, asparagus, and apricots on the side. (Serving size: 3 ounces pork, 1/2 fruit, 1/2 cup rice, 1/2 cup asparagus).