$$\newcommand{\AFF}{\mathbb{A}}$$
$$\newcommand{\PSP}{\mathbb{P}}$$
Let
$$
f(x,y) = 0
$$
be an affine plane curve in $\AFF^2_k$. How can one find all possible asymptotic lines $a x + b y + c = 0$?
Answer: One embeds $\AFF^2_k$ into $\PSP^2_k$ with the coordinates $(X:Y:Z)$ and computes the intersections of $f(x,y) = 0$ with the infinite line $Z = 0$. Therefore one puts
$$
Z^d f(X/Z, Y/Z) = g(X,Y,Z) = 0
$$
with $d$ chosen such, that $Z$ does not divide the polynomial $g(X,Y,Z)$.
From $g(X,Y,0) = 0$ one gets a list of intersection points $(X_i: Y_i: 0)$. We choose one of it, which we write wlog as $P = (1 : y_0 : 0)$.
So we assume, that $X = 1$ and compute the affine representation of $f(x,y) = 0$ in the patch $X = 1$, that is $g(1, Y/X, Z/X) = 0$ as $p(u, v) = 0$ with $u=Y/X$ und $v = Z/X$.
It is then $u = y_0, v = 0$ the intersection point $P$ from above. We put $u' = u - y_0$ and get $P = (u' = 0, v = 0)$. Therefore
$$
h(u',v) = p(u' + y_0, v) = h_m(u',v) + \cdots + h_d(u',v)
$$
with $h_\nu$ homogeneus of degree $\nu$ and $d > 0$. We choose a linear factor $l = a u' + b v = 0$ of $h_d$ and transform back
$$
l = a \,(u - y_0) + b \, v = a \, (Y/X - y_0) + b \, (Z/X).
$$
Projectively this is
$$
l = a Y - y_0 X + b Z
$$
and so in the affine patch $Z = 1$ the sought after equation for the asymptotic line is
$$
l = a y - y_0 x + b = 0
$$
Example: Let
$$
f(x,y) = x^3 + y^3 - 3 a \, x y = 0
$$
be "Folium Cartesii".
We have
$$
g(X,Y,Z) = X^3 + Y^3 - 3 a X Y Z = 0.
$$
From $Z= 0$ follows $P=(1:-1:0)$, therefore $y_0 = -1$.
Further we have $p(u,v) = g(1,u,v) = 1 + u^3 - 3 a u v$ and therefore with $u' = u + 1$ we get for $h$
$$
h(u',v) = p(u' - 1, v) = u'^3 - 3 u'^2 + 3 u' - 3 a (u' - 1) v = u'^3 - 3 u'^2 - 3a u' v + 3 u' + 3 a v.
$$
So it is $h_1(u',v) = 3 (u' + a v)$ and $l = u' + a v = u + 1 + a v = Y/X + 1 + a Z/X = 0$, and therefore finally
$$
l = y + x + a = 0.
$$
Finally your example, calculated with maple

