Add basil, kale, garlic and walnuts into the bowl of a food processor. Process on high until finely chopped and combined.
Add nutritional yeast and salt then turn the food processor on and slowly drizzle in the oil until the pesto is creamy. Pulse in the lemon juice. You may have to remove the top and wipe the sides down as you go.
Transfer pesto to an airtight container and set aside.
Add asparagus, zucchini and peas into a steamer basket and gently steam until zucchini is tender, about 1 - 2 minutes.
Remove from steamer basket and transfer to a mixing bowl. Add quinoa and almonds and toss to combine.
Add pesto and mix the salad together until all the ingredients are evenly coated in sauce. If you want the dish to be a bit more "creamy", add 1 - 2 tablespoons of almond milk (or water) and mix to combine.