Place potatoes and garlic on a large double layer of foil, drizzle with oil, and season with salt and pepper. Fold foil around potatoes and crimp edges to form a packet. Grill directly over heat source, rotating packet often, until potatoes are tender, 20 to 25 minutes. (To keep warm, move packet to cooler side of grill.)
Transfer potatoes to a serving bowl. Toss with cilantro and season to taste with salt and pepper. Serve with lime wedges.
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