Preheat your oven to 400°F and line a large sheet pan with parchment paper for easy cleanup.
Halve the baby potatoes and trim the woody ends off the asparagus spears.
Mince the garlic cloves and finely chop the fresh rosemary and thyme leaves.
In a medium bowl, toss the halved baby potatoes with half of the olive oil, half of the garlic, and a pinch of salt and pepper.
Pat the chicken breast dry and rub it with the remaining olive oil, garlic, rosemary, thyme, salt, and pepper.
Place the chicken and potatoes on the prepared baking sheet and roast for 12 minutes.
Remove the pan from the oven, add the asparagus to the empty space, and toss the asparagus with the juices on the pan.
Return the pan to the oven and roast for another 10 to 12 minutes until the chicken reaches an internal temperature of 165°F.
Drizzle the fresh lemon juice over the chicken and vegetables before serving hot.