In a small sauté pan, warm the avocado oil over low-medium heat. Add the garlic and sauté until it is soft and fragrant. Remove from pan and let cool.
Add the cannellini beans, garbanzo beans, aioli and oil/garlic mixture to the bowl of a food processor fitted with the blade attachment. Pulse until the mixture begins to come together.
With the food processor running add the water, 1 Tablespoon at a time, until the dip becomes a uniform, creamy consistency.
Add the lemon zest, salt and pepper and pulse until combined (add additional salt and pepper to taste if desired).
Remove the leaves from the rosemary sprigs and add to the food processor. Process until the rosemary has been combined into the dip.
Place the dip into the serving dish of choice and drizzle with extra virgin olive oil if desired. Serve with crudité, crackers or crostini.