Prepare the asparagus: Wash the asparagus spears thoroughly. To trim the woody ends, gently bend each spear until it naturally snaps, or cut off the bottom 1-2 inches. Discard the woody ends. Ensure all spears are roughly the same length for even cooking.

In a large mixing bowl, combine the trimmed asparagus, olive oil, minced garlic, sea salt, and freshly ground black pepper. Toss gently to ensure all spears are evenly coated with the seasoning.

Preheat your grill to medium-high heat (about 400-450°F / 200-230°C). If using a gas grill, close the lid. If using charcoal, ensure the coals are hot and ash-covered.

Once the grill is hot, carefully arrange the seasoned asparagus spears in a single layer directly on the grill grates. You can place them perpendicular to the grates to prevent them from falling through.

Grill for 4-5 minutes per side, turning once with tongs, until the asparagus is tender-crisp and has distinct char marks. Thinner spears may cook faster, while thicker ones might need an extra minute.

Remove the grilled asparagus from the grill and transfer them to a serving platter. If desired, drizzle with fresh lemon juice just before serving.

Serve immediately as a delicious side dish with your favorite grilled meats, fish, or vegetarian meals.