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Preheat your oven to 425°F (220°C). Line a large sheet pan with parchment paper or foil for easier cleanup.
Pat dry the chicken thighs with paper towels. Place them on the prepared sheet pan.
In a small bowl, combine olive oil, minced garlic, dried thyme, dried rosemary, paprika, salt, and pepper. Mix well.
Drizzle the olive oil mixture over the chicken thighs, making sure to coat them evenly. Gently rub the mixture into the chicken skin for more flavor.
Arrange the trimmed asparagus and cherry tomatoes around the chicken on the sheet pan. Drizzle them with a little olive oil and sprinkle with salt and pepper.
Place the sheet pan in the preheated oven and roast for about 25-30 minutes, or until the chicken thighs are golden brown and cooked through, and the asparagus is tender.
Once cooked, remove the sheet pan from the oven and let it rest for a few minutes.
Transfer the chicken thighs, asparagus, and cherry tomatoes to a serving platter. Garnish with fresh parsley, if desired.
Serve hot with lemon wedges on the side for squeezing over the chicken and vegetables. The citrusy touch adds a delightful zing to the dish.