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Prick each sausage about 6 times with a fork.
Arrange sausages in a baking dish and cover with beer and garlic. Cover and refrigerate; marinate for about 1 hour.
Arrange onion slices in a skillet just large enough to hold all sausages.
Place sausages on top and add leftover marinade to cover.
Place the skillet over medium heat and gradually bring liquid to a simmer.
Poach sausages until partially-cooked, about 4 to 5 minutes.
Transfer sausages to a plate and pat dry if needed.
Discard the onions.
Meanwhile, prepare a grill for medium-high heat cooking.
Lightly brush sausages on all sides with oil and arrange on the grill.
Grill until crisp and nicely browned and sausages are cooked through, about 4 to 6 minutes.
Transfer sausages to a platter and let rest for 3 minutes. Serve as is or on toasted buns with condiments of your choice.