Place asparagus in a large skillet if you wish to serve the spears whole; add 1/2" of water. If chopping your asparagus and for lower oxalate, use a saucepan, in which case: add asparagus to saucepan, and fill with water just to cover.
Bring to a boil over high heat. For skillet, cover. For saucepan, do not cover. Reduce heat, and simmer 1 to 3 minutes, or until crisp-tender to your liking.
Rinse in cold water briefly; drain. (The asparagus will still be warm. This is okay. It will continue cooking a little bit more, and the warmth will help it to absorb the vinaigrette.)
Place asparagus spears in a shallow dish (or plastic bag for best marinating) or chopped asparagus in a mixing bowl. Combine remaining ingredients; pour over asparagus, and toss to coat. Press asparagus down into the dressing as much a possible. (There will be a lot of dressing! You can use for salad greens after the marinating.) Marinate 3 hours.
If time allows, let stand at room temperature for an hour before serving. Drain the asparagus as you spoon it up, reserving the vinaigrette. Serve Asparagus Salad over salad greens (butter lettuce is especially good), and pour some of the extra dressing over all. Or, arrange on a serving platter sprinkled with fresh mint/basil, sea salt and optional lemon zest. Serve reserved vinaigrette in a small dish on the side.