Add the garlic and cook for 1 minute more until fragrant. Press Cancel.
Add the cut asparagus, vegetable broth, salt, and pepper to the pot. Stir briefly.
Secure the lid and set the vent to Sealing. Select Manual or Pressure Cook on High for 4 minutes.
When the cooking cycle finishes, allow a Natural Pressure Release (NPR) for 10 minutes, then carefully move the valve to Venting to release any remaining pressure.
Open the lid. Use an immersion blender directly in the pot to blend the soup until completely smooth and creamy. Alternatively, carefully transfer the soup in batches to a standard blender and blend until smooth, then return it to the pot.
Stir in the heavy cream (or coconut milk) and lemon juice. Taste and adjust salt and pepper if needed. Serve hot.