Add all ingredients except oil to a food processor and pulse until chopped. Once chopped, turn the food processor on and stream the oil through the opening in the top. Continue processing until desired texture is reached. Taste pesto for flavor and add more sea salt or nutritional yeast
Cook quinoa according to package instructions.
Add oil to a large non-stick skillet and heat to medium-high. Add chopped asparagus and saute, stirring occasionally, until asparagus turns bright green and begins to soften, about 3 to 5 minutes.
Add chopped kale to the skillet and stir. Cover and cook until kale has wilted, about 1 to 2 minutes. Remove from heat. Add the cooked quinoa, lemon zest, sea salt, and kale pesto and stir well until combined.
Fold in the avocado, walnuts, and feta and taste for flavor. Add more sea salt to taste. Note: you can chill the pesto quinoa in the refrigerator until you're ready to serve before adding the avocado, walnuts, and feta. Quinoa salad can be served both warm or cold.