Heat oven to 350°F. Grease a 9x13-inch baking dish.
Blanch asparagus in salted boiling water for 2–3 minutes. Drain well and pat dry.
Warm 1 tbsp of the melted butter in a skillet over medium heat. Soften onion for 4–5 minutes; stir in garlic for 30 seconds.
Whisk soup, milk, sour cream, salt, pepper, paprika, and lemon zest in a large bowl. Fold in the sautéed onions.
Stir in asparagus and half of the cheddar. Spread mixture in the prepared dish.
Toss cracker crumbs with remaining 3 tbsp melted butter and Parmesan. Sprinkle remaining cheddar over casserole, then scatter crumb mixture on top.
Bake 25–30 minutes until bubbly and golden. Rest 10 minutes before serving.