Preheat oven to 425°F. Trim fat from meat. Rub garlic over meat; sprinkle with 1/4 teaspoon salt and black pepper. Place meat on a rack in a shallow roasting pan. Roast for 25 to 35 minutes or until temperature of meat reaches 155°F.
Remove meat from oven. Cover with foil; let stand for 10 minutes before slicing. (Temperature of the meat after standing should be 160°F.)
Meanwhile, in a medium bowl gently stir together mango, avocado, sweet pepper, jicama, cilantro, lime peel, and 1/8 teaspoon salt. Slice meat; serve meat with mango mixture and, if desired, lime wedges.