Preheat oven to 400 degrees. Line a baking sheet with parchment paper.Cut both the lemon and orange in half. Place one lemon half and one orange half to the side. Using a vegetable peeler remove the outer skin from the remaining orange and lemon halves. Cut the rinds into thin strips. Squeeze 2 Tablespoons of juice combined from the halves, set the juices aside for the vinaigrette. Cut the remaining orange and lemon halves you set aside into thin slices. Drizzle with 1 Teaspoon olive oil and place on the parchment lined baking sheet.Wash and pat dry the asparagus. break off woody bases. Place the spears on the baking sheet. Sprinkle with garlic slices, Tarragon and citrus strips. Drizzle one Tablespoon olive oil over the spears, toss to combine. Lay the spears out in a single layer, season with salt and pepper.Place the baking pan in the oven, roast at 400 degrees for 15 minutes, turning once or twice or until spears are tender. Remove from the oven and transfer to a serving platter.For the Vinaigrette:Place the reserved 2 Tablespoons juice in a small bowl. Whisk in 2 Tablespoons olive oil. Drizzle vinaigrette over the asparagus. Garnish with roasted citrus slices, serve warm.