Prep the asparagus by chopping off the woody ends and leaving the tips. I usually remove 1-3 inches depending on the size of asparagus.
Warm a large soup pot over high heat. Add in the olive oil. When oil is hot, add the bacon bits. Sizzle and stir a bit. Turn heat to medium. Allow to cook for 2-3 minutes.
Add in the asparagus, vinegar and maple syrup. Toss a bit and cover with lid. -- A minute or so later, I like to add a splash water here to help cook the asparagus with steam.
Turn off heat after the asparagus has started to become tender enough to eat - it should be a bright dark green. And not mushy, but also not crispy.
Add salt and pepper to taste. You can also do this at the end of cooking if preferred, but I like the salt to marinate into the veggies a bit.
Add in the peaches and stir again. Cover with lid again and allow everything to sit in the hot pot. This will 'cook' the peaches and further tenderize the asparagus. Let sit for about 2-3 minutes.
Lift lid and check to make sure everything is tender enough to serve. If not, turn heat back on for a few minutes and repeat - adding another splash of water if needed to steam and hydrate everything. -- If tender enough, transfer the pot contents to a serving platter.
Optional: plate everything on a bed of greens or sprouts.
Serve warm! Enjoy! You can even chill this and serve chillled. Delicious either way.