Heat a griddle pan. Rub the asparagus with olive oil, then grill them until lightly charred.
Brush the asparagus with the minced garlic and squeeze half of the lemon over them. Keep turning the asparagus over, until the garlic becomes a bit yellow - it must not burn because it will taste bitter!
Remove the grilled asparagus to a plate.
Remove the skin and stone of the asparagus, then cut its flesh into bite-sized chunks.
Scatter the leaves onto two plates then arrange the avocado on top. Drizzle with oil, and squeeze the remaining lemon juice over them.
Add the asparagus, season with salt and pepper then drizzle some balsamic glaze over the salad and serve. ( You can add some grated/shaved/crumbled cheese before the glaze, if liked)