Mix garlic, maple syrup, soy sauce, oil, salt, and pepper in a small container.

Put a salmon portion on each square of foil. Spoon some sauce over the fish.

Add a lemon slice on top and seal the foil packet.

At camp, heat a skillet over medium-low on a single burner.

Cook packets for 10 to 12 minutes, flipping them once, until the salmon flakes.

Open foil carefully, away from your face, and serve.