Soak bamboo skewers in water for at least 20 minutes to prevent burning.
In a bowl, combine pork cubes with minced garlic, 1 tablespoon olive oil, salt, and pepper. Toss to coat and set aside.
Prepare vegetables: keep mushrooms halved lengthwise, peel pearl onions, and slice zucchini into 1/2-inch rounds.
Thread pork, zucchini slices, mushroom halves, and pearl onions alternately onto each skewer, leaving a little space for even cooking.
Brush skewers lightly with remaining olive oil and season with a pinch of salt and pepper.
Preheat grill or grill pan over medium-high heat. Grill skewers for about 12-15 minutes, turning occasionally, until pork is cooked through and vegetables are tender and slightly charred.
Meanwhile, prepare the peanut sauce by blending peanut butter, soy sauce, lime juice, sugar, white vinegar, chopped ginger, and 2-3 tablespoons of warm water until smooth and creamy. Adjust consistency with water as needed.
Serve skewers hot with the creamy peanut sauce on the side for dipping.