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Soak the skewers. If using wooden skewers, soak in water at least 20 minutes or overnight. Meanwhile, heat the grill.
Prepare the grill. Prepare an outdoor grill for direct, high heat (about 450°F to 550°F).
Season the asparagus. Place the asparagus in a 9x13-inch baking dish. Drizzle with the oil, season with the salt, and toss to combine.
Cut the lemon. Cut 1/2 of the lemon into very thin slices. Reserve the remaining lemon half for squeezing onto the cooked asparagus.
Skewer the asparagus. Organize the spears a little, grouping like sizes together into groups of 5 to 6 spears. Thread 1 skewer through the middle of each group of 5 to 6 spears. Run a second skewer a few inches beneath the first, tucking a few lemon slices between the spears. If using wooden skewers, trim any excessive overhang with a pair of kitchen shears if desired. Repeat until all the asparagus is skewered.
Grill over direct heat. Place the skewered asparagus on the grill and cook uncovered until grill marks appear, about 4 minutes. Flip and continue cooking until tender, bright green, and charred in spots, 2 to 4 minutes more.
Finish with more lemon. Transfer the asparagus to a serving platter. Season with more salt if desired and a squeeze of lemon juice.