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Prepare a grill for high heat. Whisk mirin, miso, vinegar, and ginger in a small bowl. Place asparagus in a pie plate or small baking dish and pour miso mixture over. Toss to coat.
Grill asparagus, turning occasionally, until charred on all sides and crisp-tender, 4–5 minutes. Transfer to a platter. Squeeze lime juice over, then top with scallions and sesame seeds.