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Thaw lobster tails, if frozen. Butterfly lobster tails by using kitchen shears to cut lengthwise through centers of hard top shells and meat, cutting to but not through bottoms of shells. Spread halves of tails apart. Place a steamer basket in a saucepan. Add water to just below the bottom of the basket. Bring water to boiling. Add lobster tails to steamer basket. Cover and reduce heat. Steam for 8 minutes. Add asparagus; cover and steam for 3 to 5 minutes more or until lobster is opaque and asparagus is tender. When cool enough to handle, remove lobster from shells and coarsely chop. Bias-slice asparagus into 1 1/2-inch pieces.
For vinaigrette, in a screw-top jar combine lemon peel, lemon juice, olive oil, shallot, dillweed, honey, salt, and pepper. Cover and shake well to combine.
Line a serving platter with lettuce. Arrange asparagus and lobster on top of lettuce. Drizzle with vinaigrette; sprinkle with cheese and bacon.