In a small mixing bowl, combine the lemon juice, lemon zest, minced garlic, olive oil, chopped rosemary, chopped thyme, salt, and pepper. Stir until well blended.
In a large mixing bowl, add the chicken thighs and pour half of the lemon herb mixture over them. Coat the chicken thoroughly and marinate for at least 15 minutes.
Prepare your sheet pan by arranging the halved baby potatoes cut side up. Drizzle with olive oil and season with salt and pepper. Roast the potatoes for 10 minutes.
After 10 minutes, remove the pan from the oven and place the marinated chicken thighs skin side up on the sheet pan. Drizzle any remaining marinade over the chicken.
Return the pan to the oven and roast for an additional 20 minutes.
Add the asparagus to the pan, tossing it in the drippings, and arrange it around the chicken and potatoes. Roast for an additional 10 to 15 minutes until the chicken reaches 165°F (74°C).
Remove the pan from the oven and let the dish rest for a few minutes before serving.
Notes
For a rustic presentation, serve directly from the sheet pan. Garnish with lemon wedges and fresh herbs.