We like asparagus most any way, but this recipe, where the asparagus is marinated in balsamic vinegar and oil with garlic and shallots before being grilled is one of my new top ten faves.
I used a fig balsamic vinegar and a mixture of avocado and canola oils (all avocado oil, much like olive oil, will solidify in the fridge, so I thinned it out with canola oil); but feel free to use your preferred balsamic and swap out the oil(s) to suit your taste and pantry contents.
INGREDIENTS
Marinade:
•1/2 cup fig balsamic vinegar
•1/4 cup avocado oil
•1/4 cup canola oil
•6 roasted garlic cloves, smashed
•1 tsp dried shallots
•1/2 tsp dried oregano
•1/2 tsp black pepper
•1/2 tsp sea salt
Asparagus:
•1 bunch asparagus, trimmed
Whisk the marinade ingredients together in a small pitcher, then pour over the asparagus in a gallon sized zipper bag.
Flip the bag a couple of times to ensure all the spears are nicely coated with the marinade, then place on a rimmed plate (for 
to catch any drippage) and stash in the fridge for at least eight hours or – always more better – overnight, giving the bag a flip when you think to.
When ready to grill, remove the asparagus from the marinade (discard the marinade) and shake off any excess.
Grill the asparagus over medium heat for about eight minutes, until it is crisp-tender, and a bit charred in spots.
Since the grill was on, we had ours with Beer ‘n Buttermilk Marinated Pork Chops.
Tasty.