Preheat the oven to 425°F (220°C).
In a large bowl, combine the olive oil, minced garlic, dried thyme, dried rosemary, paprika, salt, and black pepper. Stir well to create a marinade.
Add the chicken breasts to the bowl and coat them thoroughly with the marinade.
In a separate bowl, toss the halved baby potatoes with half of the remaining marinade until evenly coated.
Spread the potatoes evenly on one side of a large sheet pan.
Place the marinated chicken breasts on the other side of the sheet pan.
Arrange the trimmed asparagus spears in the center of the sheet pan between the chicken and potatoes. Drizzle the remaining marinade over the asparagus.
Place lemon slices on top of the chicken breasts.
Roast in the preheated oven for 20 to 25 minutes, or until the chicken reaches an internal temperature of 165°F (74°C) and the potatoes are tender when pierced with a fork.
Remove from the oven and let rest for 5 minutes before serving.