Preheat your oven to 425 degrees Fahrenheit (220 degrees Celsius).

Pat the chicken dry with paper towels to ensure crispy skin. Rub the chicken inside and out with olive oil, salt, pepper, minced garlic, rosemary, and thyme.

Stuff the cavity with one halved lemon. Place the chicken breast-side up in a large roasting pan.

Roast the chicken for 1 hour and 15 minutes, or until the internal temperature reaches 165 degrees Fahrenheit in the thickest part of the thigh.

During the last 15 minutes of roasting, arrange the trimmed asparagus and the remaining lemon halves around the chicken in the pan.

Remove from the oven and let the chicken rest for 10-15 minutes before carving and serving with the roasted asparagus.