Heat charcoal or gas grill to medium-high. Brush both sides of all vegetables and cut sides of lemons with oil.
Grill vegetables for 10 minutes, turning occasionally. Add lemon to grill, cut side down, and cook for an additional 2 minutes. Place vegetables and lemons aside on cutting board.
Grill pork slices about 5 minutes per side until internal temperature reaches 145°F to 160°F.
Meanwhile, coarsely chop the vegetables. Serve vegetables with pork slices on top; squeeze grilled lemons over meat.