Heat oil in a large skillet over medium-high heat for 1 minute. Add asparagus and sauté until golden brown, about 3-5 minutes.
Season with salt and pepper. Add garlic and sauté until fragrant, about 1 minute.
Reduce heat to low. Stir in Pesto and balsamic vinegar and cook until the asparagus is tender, about 1-2 minutes.
Sprinkle with pine nuts (or roasted peanuts) and serve immediately.
