Preheat oven to 400°F (200°C) and line a large baking sheet with parchment paper.
Halve the baby potatoes and slice carrots into rounds; trim the woody ends off the asparagus.
In a small bowl, whisk together olive oil, lemon juice, minced garlic, rosemary, thyme, salt, and pepper.
Place the chicken breast, potatoes, and carrots on the baking sheet, then drizzle with two-thirds of the herb oil, tossing to coat.
Roast for 15 minutes, then add the asparagus to the pan and drizzle with the remaining herb oil.
Continue roasting for another 10-12 minutes until the chicken reaches an internal temperature of 165°F and the vegetables are golden.
Let the chicken rest for 5 minutes before slicing and serving with the roasted vegetables.