Read this tip to make your life smarter, better, faster and wiser. LifeTips is the place to go when you need to know about Party Tents and other Canopy topics.
Stakes won't damage asphalt. It will make a hole about 3/4 to 1 inch in size which can be repaired if needed with special asphalt plugs.
If you have a concrete patio or sidewalk area concrete construction anchors can be used that use bolts and washers to take the place of stakes. These are permanent once installed but are very clean and a hex nut can be put into them flush with the ground if you want to use them again some time later.