Preheat grill on medium-high heat.
Add asparagus, chopped garlic, vegebtable oil, salt and pepper, rosemary and thyme to a large bowl. Mix together. Grill asparagus for 3 to 4 minutes. Place asparagus back into bowl. Add julienne-sliced sun-dried tomatoes. Mix together.
Remove 2 tablespoons oil from asparagus mixture, and place into saute pan. Add mushrooms; cook for 3 to 4 minutes until browned and crisp.
Remove mushrooms and mix into asparagus mixture. Serve at room temperature.