Preheat your oven to 425°F (220°C). Line a large rimmed baking sheet with parchment paper or lightly coat with non-stick spray.
Pat the chicken thighs completely dry with paper towels to ensure the skin gets crispy during roasting.
In a small bowl, whisk together the olive oil, lemon juice, minced garlic, fresh rosemary, fresh thyme, kosher salt, and black pepper.
Place the chicken thighs, halved baby potatoes, and chopped carrots on the prepared baking sheet. Drizzle with three-quarters of the lemon herb mixture and toss the vegetables to coat. Arrange the chicken skin-side up.
Bake in the preheated oven for 25 minutes.
Remove the baking sheet from the oven. Add the trimmed asparagus and lemon slices to the pan. Drizzle the remaining lemon herb mixture over the asparagus. If using, sprinkle the panko breadcrumbs evenly over the top of the chicken thighs.
Return the pan to the oven and bake for an additional 10 to 15 minutes, or until the chicken reaches an internal temperature of 165°F (74°C) and all the vegetables are fork-tender.
Remove from the oven and let the chicken rest for 5 minutes on the pan before serving.