Start by heating your large skillet over medium-high heat until it shimmers, and add the olive oil, swirling to coat the bottom evenly. Once hot, add the asparagus pieces in a single layer and cook for about 3 minutes, stirring occasionally, until they start to blister and turn a little golden—bright green and slightly tender.
Push the asparagus to one side of the pan and arrange the shrimp in a single layer on the cleared side. Cook for 2-3 minutes without moving them, until they turn pink and start to curl, then flip with tongs and cook for another 2 minutes until evenly pink and opaque.
Add the minced garlic to the pan, stirring quickly for about 30 seconds until fragrant and slightly golden, being careful not to burn it. The aroma should be nutty and inviting. Squeeze half of the lemon over the shrimp and asparagus, then sprinkle in the lemon zest.
Toss everything gently in the pan to coat evenly with the garlic and lemon juice. Cook for another 30 seconds to let the flavors meld, and check that the shrimp are fully opaque and the asparagus is tender-crisp. Adjust seasoning with salt and pepper to taste.
Remove the skillet from heat and give everything a final squeeze of fresh lemon juice for brightness. Plate the shrimp and asparagus immediately, garnishing with additional lemon zest or herbs if desired. Serve hot while the flavors are fresh and vibrant.
