Preheat your oven to 400°F (200°C).
In a small bowl, whisk together the minced garlic, dried rosemary, dried thyme, sea salt, black pepper, and 0.5 tbsp of extra virgin olive oil to form a thick paste.
Pat the tri-tip steak completely dry with paper towels and rub the garlic-herb paste evenly over all sides of the meat.
Heat a large oven-safe cast-iron skillet over medium-high heat with the remaining 0.5 tbsp of extra virgin olive oil.
Once the skillet is shimmering, sear the steak for 3-4 minutes per side until a deep golden-brown crust forms.
Arrange the asparagus spears around the steak in the skillet, tossing them slightly in the pan juices.
Transfer the skillet to the preheated oven and roast for 10-15 minutes, or until the internal temperature of the steak reaches 135°F for medium-rare.
Remove from the oven and let the steak rest on a cutting board for at least 10 minutes before slicing thinly against the grain to ensure maximum juiciness.