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Set your grill to medium high heat
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Toss the asparagus in the olive oil, garlic, and season with salt and pepper.
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Put on the grill and cook for 3-5 minutes. The asparagus should be al dente, with a bit of bite, and have good caramelization on it.
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It should be golden brown, but not black.
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Take off the grill in mix in a bowl with the butter, lemon zest, and juice. Feel free to add your favorite fresh herbs as well.