Preheat your oven to 400°F (200°C) and line a large rimmed baking sheet with parchment paper for easy cleanup.
Mince the garlic cloves and finely chop the fresh rosemary and thyme leaves.
Halve the baby potatoes and trim the tough, woody ends off the asparagus spears.
In a medium bowl, toss the halved potatoes with half of the olive oil, half of the minced garlic, and a pinch of salt and pepper.
Spread the potatoes onto the prepared baking sheet and roast for 10 minutes.
While potatoes roast, rub the chicken breast evenly with the remaining olive oil, garlic, rosemary, thyme, salt, and pepper.
Carefully move the potatoes to one side of the sheet, place the chicken breast in the center, and roast for another 10 minutes.
Add the asparagus to the remaining space on the sheet, drizzle with a squeeze of fresh lemon juice, and roast everything for a final 10-12 minutes until the chicken reaches an internal temperature of 165°F.
Remove from the oven and let the chicken rest for 5 minutes to lock in the juices before slicing and serving with the roasted vegetables.