In a medium nonstick skillet, heat 1 1/2 teaspoons olive oil over medium heat. Add the pine nuts and cook, stirring occasionally, until golden, about 5 minutes; transfer to a plate.
In the same skillet, heat 1 1/2 teaspoons olive oil over medium-high heat. Add the asparagus and cook until bright green and crisp-tender, about 2 minutes; season with salt and pepper. Transfer to a large bowl and toss with the radicchio, endive and pepperoncini.
In the same skillet, heat the remaining 3 tablespoons olive oil over medium heat. Add the garlic and cook for 1 minute. Stir in the vinegar and season with salt and pepper. Cook until slightly reduced, about 2 minutes. Pour over the salad, add the pine nuts and parsley and toss to coat.