Set your grill to medium-high heat, around 400°F. Allow it to fully heat while you prep the asparagus so you get a nice sear and even cooking.

Rinse the asparagus under cool water and pat dry with a paper towel. Using a sharp knife, trim off the woody ends by cutting about 1 to 2 inches from the bottom of each stalk (or about 1/3 of the way up). These ends are tough and not pleasant to eat.

Place the trimmed asparagus in a large bowl or on a baking sheet. Drizzle with olive oil and balsamic vinegar. Sprinkle with garlic salt and black pepper, then squeeze fresh lemon juice over the top. Toss gently until all the spears are evenly coated.

Place the seasoned asparagus directly on the grill grates perpendicular to the bars (or use a grill basket to prevent them from falling through). Grill for 10 to 12 minutes, turning once halfway through. Cook until the asparagus is tender and slightly charred, but not mushy.

Remove from the grill and serve immediately alongside your favorite main dishes like grilled chicken, steak, or salmon. Add an extra squeeze of lemon or a sprinkle of parmesan if you're feeling fancy.