Preheat your oven to 425°F (218°C).
Mince the garlic cloves and finely chop the fresh rosemary and thyme.
In a small bowl, combine half of the olive oil with the minced garlic, chopped herbs, half of the sea salt, and half of the black pepper.
Pat the beef tenderloin dry with a paper towel and rub the garlic-herb mixture evenly over all sides of the meat.
Place the beef in a small roasting pan or oven-safe skillet and roast for 15 minutes.
While the beef is roasting, trim the woody ends off the asparagus and toss them with the remaining olive oil, salt, and pepper.
After 15 minutes, add the asparagus to the pan around the beef and continue roasting for another 10-12 minutes, or until the beef reaches an internal temperature of 135°F for medium-rare.
Remove the pan from the oven. Transfer the beef to a cutting board and let it rest for at least 10 minutes to lock in the juices.
Drizzle the roasted asparagus with lemon juice and slice the beef into thick medallions to serve.