In a 12-inch nonstick skillet heat the 2 tablespoons oil over medium-high heat Evenly layer potatoes and carrots in skillet. Cook, uncovered, 5 minutes, until potatoes are golden, turning once. Add mushrooms and onion. Cook 5 to 6 minutes, until vegetables are crisp-tender, stirring often. Add garlic and asparagus; cook 3 minutes. Transfer vegetables to bowl; set aside.