Preheat the oven to 400°F and line a large baking sheet with parchment paper.
Mince the garlic cloves finely and place them in a small bowl.
Mix the garlic with the dried rosemary, dried thyme, sea salt, black pepper, and half of the olive oil to create a thick paste.
Pat the top sirloin steak dry with a paper towel and rub the garlic-herb paste over all sides of the meat.
Place the steak on one side of 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.
Remove the pan from the oven, add the asparagus to the other side, and return to the oven for 8-10 minutes until the steak reaches your preferred doneness.
Transfer the beef to a cutting board and let it rest for 5 minutes before slicing against the grain.
Drizzle the roasted asparagus with lemon juice and serve alongside the sliced beef.