In a large saute pan (that has a lid) or pot, add olive oil, onion, and garlic and cook until onion translucent (about 3-5 min). If using veggie broth instead of oil, add enough broth to just cover the bottom of the pan and add more if/when needed.
Add 2.5 cups of vegetable broth and lentils. Bring to a boil, cover and cook on medium-low heat for 15-20 minutes until lentils are tender. They don't have to be fully cooked because they will continue to cook with the other ingredient but you want them mostly done.
Add quinoa and coconut milk, cover, and cook for another 15-17 minutes. Make sure to check every so often stir, and if needed, add a bit more broth so nothing is sticking to the bottom of the pan/pot.
Add in nutritional yeast, lemon, Dijon, parsley, and tamari and stir.
Add asparagus and peas (and more vegetable broth if needed - I've put in anywhere from ¼-1/2 a cup - don't put too much at once, you don't want too liquid) and cook uncovered for about 5-10 minutes (stirring frequently) until asparagus is tender and as much of the liquid has been evaporated for your liking.