Preheat your oven to 350°F (175°C).
Rinse the asparagus under cold water, trim the ends, and cut into 1-inch pieces.
In a large mixing bowl, combine the asparagus, crushed saltine crackers, cheddar cheese, sour cream, and milk. Add Parmesan cheese, garlic powder, onion powder, black pepper, and salt. Mix until well combined.
Pour the mixture into a greased 9x13-inch baking dish and drizzle lemon juice over the top.
Bake for 30-35 minutes until the top is golden brown and bubbling. Let cool for 5-10 minutes before serving.