Set up a grill for even medium-high heat. If using a charcoal grill, build coals evenly along the bottom.
Whisk together the extra-virgin olive oil, mustard, horseradish, lemon juice and zest in a bowl. Season with salt and pepper. Set aside. Place the asparagus, endive and onions on a rimmed baking sheet and drizzle with the olive oil. Sprinkle with salt and pepper and toss to coat. Place on the grill and cook, turning once, until tender-crisp and lightly charred, 4 to 5 minutes. Serve drizzled with the dressing and topped with the tarragon leaves, if using.
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