Preheat your oven to 425°F (218°C) and line a small baking sheet with parchment paper.
In a small bowl, mince the garlic and finely chop the rosemary and thyme.
Combine the minced garlic, herbs, sea salt, black pepper, and half of the olive oil to create a thick paste.
Pat the beef tenderloin dry with a paper towel and rub the herb paste evenly over all sides of the meat.
Place the beef on the prepared baking sheet and roast for 10 minutes.
While the beef is roasting, trim the woody ends off the asparagus and toss the spears with the remaining olive oil and a pinch of salt.
Add the asparagus to the baking sheet around the beef and continue roasting for another 8 to 12 minutes, or until the beef reaches an internal temperature of 135°F for medium-rare.
Remove from the oven and let the beef rest on a cutting board for at least 5 minutes to lock in the juices.
Squeeze the fresh lemon juice over the roasted asparagus and slice the beef into thick medallions before serving.