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In a nonstick medium skillet, heat 1 tablespoon olive oil over medium heat. Add the garlic and cook, stirring, until golden, about 2 minutes. Add the mushrooms, season with salt and pepper and cook, stirring, until tender, about 5 minutes. Deglaze pan with Worcestershire sauce. Cover to keep warm.
Preheat a grill or grill pan to medium-high. Cut the beef crosswise into 4 equal portions and pound 1/3 inch thick. Season with salt and pepper, then spread a quarter of the cheese in the center of each portion, leaving a 3/4-inch border. Divide the thyme and asparagus equally among each portion. Drizzle each with a teaspoon of olive oil, roll up the meat around the asparagus and a slice of red pepper and secure with toothpicks. Pour the remaining olive oil on a plate and season with salt and pepper. Turn each beef roll in the oil to coat, cover and grill until the cheese is melted, about 10 minutes for medium-rare.
To serve: top each roll with mushroom mixture
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