In a glass mixing bowl or a resealable freezer bag, whisk together the olive oil, Worcestershire sauce, soy sauce, and balsamic vinegar until well combined. Add in the Dijon mustard, black pepper, rosemary, parsley, thyme, and minced garlic, stirring until the mixture is evenly blended.
Place up to 2 pounds of steak into the marinade, ensuring the meat is fully coated. Cover the bowl or seal the bag, then refrigerate for at least 1 hour to allow the flavors to infuse. For a deeper, more pronounced taste, marinate for up to 4 hours.
Once marinating is complete, remove the steak from the mixture, shaking off any excess. Discard the marinade or bring it to a rolling boil for several minutes if you wish to use it as a sauce.
Cook the steak to your preferred doneness by grilling over direct heat or broiling in the oven, ensuring a beautifully seared exterior and a juicy, flavorful interior.