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Adjust rack to middle position (middle and top positions for 4 servings) and preheat oven to 450 degrees. Wash and dry produce.
Dice potatoes into ½-inch pieces. Roughly chop parsley. Trim and discard bottom 1 inch from asparagus.
Place garlic cloves in the center of a small piece of foil; drizzle with oil and season with salt and pepper. Cinch into a packet and place on a baking sheet. Roast on middle rack for 10 minutes (you’ll add more to the sheet then).