Bringing together these ingredients into a cohesive and delicious dish is a straightforward process. Follow these step-by-step instructions:

1. Prepare the Shrimp and Asparagus: Start by peeling and deveining the shrimp if not already done. Trim the woody ends off the asparagus and cut them into 2-inch pieces.
2. Heat the Olive Oil: In a large skillet, heat the olive oil over medium heat until it shimmers.
3. Sauté the Garlic: Add the minced garlic to the skillet and sauté for about 1 minute until fragrant, being careful not to burn it.
4. Cook the Shrimp: Add the shrimp to the skillet in a single layer. Cook for 2-3 minutes on each side, or until they turn pink and opaque. Remove the shrimp from the skillet and set aside.
5. Cook the Asparagus: In the same skillet, add the asparagus. Sauté for about 4-5 minutes, or until they are tender yet still crisp.
6. Combine Ingredients: Return the shrimp to the skillet with the asparagus. Add the lemon juice, lemon zest, salt, pepper, and red pepper flakes if using. Stir to combine all the ingredients.
7. Garnish and Serve: Remove from heat and garnish with fresh parsley. Serve immediately.