Step 1: Heat oil in a large skillet over medium heat; add onion and asparagus and cook, stirring occasionally, 5 minutes.
Step 2: Add remaining vegetables to skillet and cook, covered, 5 more minutes, stirring occasionally.
Step 3: Add sausage and seasonings; cover and cook an additional 5-10 minutes, until vegetables are crisp-tender and sausage is heated through.
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