To prepare asparagus, snap off the fibrous end of each spear and slice each diagonally into 2-inch pieces.
Heat olive oil in a large skillet over medium-high heat until glistening.
Add all ingredients to skillet; toss to combine.
Cover skillet and saute for 8-10 minutes, stirring occasionally, until asparagus and mushrooms are tender. (Note: We like our asparagus crisp. If you prefer a more tender texture, cook for an additional 3-5 minutes.).