Place the beets, onion and rosemary onto a baking tray, drizzle with oil and season. Bake in a hot oven 200°C for 25 minutes. Add the asparagus and bake a further 10-12 minutes or until all the vegetables are just tender
Place vegetables onto a serving platter. Thin the aioli with a little milk and drizzle over the vegetables. Scatter over the walnuts and serve
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