Step 1: Trim the asparagus by holding each spear at both ends and bending gently until it snaps where the woody end meets the tender stalk. Discard the tough ends.
Step 2: Rinse the trimmed asparagus under cold water and pat them thoroughly dry with a clean kitchen towel or paper towels. This prevents steaming and encourages charring.
Step 3: In a large bowl, combine the dried asparagus with olive oil, minced garlic, sea salt, and black pepper. Toss well to ensure every spear is evenly coated.
Step 4: Preheat your grill to medium-high heat (approximately 400-450°F or 200-230°C). Clean the grill grates thoroughly to prevent sticking.
Step 5: Arrange the seasoned asparagus spears in a single layer on the hot grill grates, placing them perpendicular to the grates so they don't fall through.
Step 6: Close the lid and grill for 2-4 minutes per side, or until the asparagus is tender-crisp and shows appealing char marks. Use tongs to flip them a few times for even cooking and charring.
Step 7: Once cooked, transfer the grilled asparagus immediately to a serving platter. Squeeze fresh lemon juice over the top for a bright, zesty finish. If desired, garnish with fresh lemon zest.
Step 8: Serve hot and enjoy this simple yet delicious side dish!