can i use frozen asparagus?

You can — but know that it will cook softer and may not crisp as much. Add 1–2 minutes and expect a more roasted, tender result.

how do i prevent asparagus from being soggy?

Dry the spears thoroughly, avoid overcrowding, and cook at high heat (400°F). Those three steps make the biggest difference!

Medium or thick asparagus tends to hold up best in the air fryer, but thin asparagus works too — just reduce the cook time.

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Prep the asparagus. Rinse and pat asparagus dry. Snap or trim off the tough woody ends and discard them.
Season. Toss the asparagus with olive oil, salt, garlic powder, and black pepper until evenly coated.
Air fry. Spread the asparagus in a (mostly) single layer in the air fryer basket. Cook at 400°F (200°C) for 5–8 minutes, shaking halfway, until the spears are bright green and just tender (thin spears may take closer to 5 minutes; thicker may need 8).
Finish and serve. Transfer to a serving plate. Sprinkle with Parmesan or add a squeeze of fresh lemon juice if you’d like. Serve warm and enjoy!