Heat the oil in a small saucepan over low heat, add the onion and sauté until soft. Add the lilly pillies and figs, balsamic and jaggery. Cook gently over low heat, stirring occasionally, for 10 minutes. Set aside to cool.
Combine the wild rosemary, parsley, salt and pepper. Scatter evenly over a wooden board, then roll the kangaroo meat over it to coat all sides. Set aside.
Heat a griddle, barbecue or non-stick pan over medium-high heat. Drizzle the oil over the surface, then place the herb-crusted kangaroo into the pan. Cook the kangaroo on all sides for 4-5 minutes, making sure it is still medium-rare to rare on the inside. Remove from the pan and allow to rest for 5 minutes before slicing.
Serve with the roasted garlic, chutney and any other vegetable you desire.