Prepare the grill for direct cooking over medium heat (350° to 450°F).
In a medium skillet over medium heat, lay the bacon in a single layer and cook until crisp, 8 to 10 minutes, turning occasionally. Drain the bacon on paper towels, reserving the bacon fat in the skillet.
Pour off all but 3 tablespoons of the bacon fat and return the skillet over medium heat. Add the thyme and garlic to the skillet and let them sizzle for about 10 seconds. Add the vinegar, salt, and pepper, and then remove the skillet from the heat.
Remove and discard the tough bottom of each asparagus spear by grasping each end and bending it gently until it snaps at its natural point of tenderness, usually two-thirds of the way down the spear. Using a vegetable peeler, peel off the outer skin from the bottom half of each remaining spear. Put the asparagus on a plate or platter. Pour the vinaigrette over the asparagus. Turn the asparagus to coat them evenly. Finely chop the drained bacon.
Brush the cooking grates clean. Grill the asparagus over direct medium heat, with the lid closed as much as possible, until browned in spots but not charred, 6 to 8 minutes, turning occasionally. Arrange the asparagus on a serving platter. Sprinkle the bacon over the asparagus. Arrange the onions on top. Serve warm or at room temperature.
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