In a medium sauté pan over medium heat, warm the oil. Add the shallots and garlic and sauté them for 1 minute. Add the remaining vinaigrette ingredients and mix well. If desired, to fully incorporate the flavors, let the vinaigrette sit at room temperature for 1 hour. Season with salt and pepper.
If using bamboo skewers, soak in water for at least 30 minutes.
Prepare the grill for direct cooking over medium heat (350° to 450°F).
In a medium bowl toss the lamb cubes with the crushed peppercorns. Wrap each bacon strip around one or two cubes of eggplant. Skewer the kabobs by alternating cubes of pepper-crusted lamb, eggplant with bacon, and tomatillos. Lightly brush the kabobs with oil.
Brush the cooking grates clean. Grill the kabobs over direct medium heat, with the lid closed as much as possible, until the bacon is fully cooked and the lamb is medium rare, about 8 minutes, turning three or four times. Remove the kabobs from the grill and let rest for 3 to 5 minutes.
Warm the vinaigrette over low heat. Place the kabobs on a platter, drizzle with the vinaigrette, and serve with rice pilaf, if desired.
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