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Heat a gas or charcoal grill for low heat. Oil the grates lightly. Split each avocado skin with a sharp knife, just piercing the skin. Peel the skin away, leaving the avocado whole. Cut the avocado in half lengthwise, and remove and discard the pit. Lightly brush each avocado half with oil.
Place the avocados cut-side down on the grill. Cover and grill until heated through and grill marks appear, about 5 minutes per side. (Keep an eye on them; I was doing them on a low heat; depending on your grill it could take less — or more! — time.)
Transfer the avocados to a large bowl and let them cool slightly. Smash with a fork. Stir in the lime juice, and season with salt and pepper. Stir in the cilantro, onion, and garlic, if desired. Serve immediately with chips.