Grilled Balsamic Skirt Steak

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1/4 cup balsamic vinegar

1 tablespoon Worcestershire sauce

2 teaspoons dark brown sugar

1 garlic clove, minced

1 pound skirt steak, trimmed and cut into 4 pieces

Cooking spray

1/2 teaspoon kosher salt, divided

1/4 teaspoon freshly ground black pepper

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