Preheat the oven to 400°F (200°C). Rinse asparagus under cold water and trim tough ends. Arrange asparagus on a baking sheet, drizzle with olive oil, and sprinkle with salt and pepper.

Place asparagus in the oven and roast for about 10 minutes until tender yet crisp.

Heat a skillet over medium-high heat. Add olive oil, then sauté garlic for 30 seconds before adding shrimp. Cook shrimp for 2-3 minutes on each side until pink and opaque.

Squeeze lemon juice over the shrimp and toss to coat.

Remove asparagus from the oven and combine with shrimp in the skillet. Serve garnished with parsley and lemon wedges.