The best way to infuse the taste of ANY aromatic is to start in cool or room temp. oil, broth or water. And LOW heat. See Tip
In your case, have your oil and WHOLE peeled cloves of garlic, in a pan, on low heat. Toast it for about 5-8 mins until the garlic is a light/med tan color. Take out garlic, add in veggies, cook to desired doneness.BTW the garlic would be great schmeered on some french bread.
Tip.........all aromatics [veggies, herbs, spices ect] have oils, when they are drawn out slowly as I mentioned you will get the fullest flavor possible.