Heat oil in a large skillet over medium heat. Add the chopped bacon and cook until crispy.
Remove the bacon from the skillet and set aside.
In the same skillet, add the crushed garlic cloves and sauté for about 1 minute until fragrant.
Add the sliced mushrooms to the skillet and cook until they release their liquid and start to brown.
Add the sliced asparagus to the skillet and cook until tender-crisp.
Season with salt and pepper to taste.
Serve the asparagus with bacon and mushrooms as a side dish.