Trim the woody ends off the asparagus and cut into 2-inch pieces. Mince the garlic and juice the lemon, setting both aside in small bowls.
Heat a large skillet over medium-high heat until shimmering. Add a tablespoon of olive oil and swirl to coat the pan.
Add the asparagus in a single layer and cook for about 2-3 minutes, shaking the pan occasionally until they develop slight char marks and turn vibrant green. Remove and set aside.
In the same skillet, add a bit more oil if needed and toss in the minced garlic. Cook for 30 seconds until fragrant, with a warm, pungent aroma filling the air.
Push the garlic to one side of the pan and add the shrimp in a single layer. Sauté for about 2-3 minutes without moving, then flip and cook for another 2 minutes until they turn pink and opaque.
Squeeze lemon juice over the shrimp and sprinkle with red pepper flakes, salt, and pepper. Toss gently to coat evenly and cook for an additional 30 seconds until the flavors meld.
Return the cooked asparagus to the skillet, tossing everything together for 1 minute to combine and warm through. The shrimp should be juicy, and the asparagus slightly charred but crisp.
Remove from heat, squeeze extra lemon if desired, and taste for seasoning. Serve immediately on warm plates, garnished with fresh herbs if you like.
