1.Place tomato, garlic and juice in small saucepan; bring to a boil. Reduce heat, simmer, uncovered, 2 minutes. Remove from heat; stir in herbs.
2. Meanwhile, cook asparagus on heated oiled grill plate (or grill or barbecue) until just tender.
3.Place endive and rocket on serving plates; top with asparagus and tomato dressing.