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Adjust rack to bottom position (bottom and middle positions for 4 servings) and preheat oven to 425 degrees. Wash and dry produce.
Trim and thinly slice mushrooms (skip if your mushrooms are pre-sliced!). Trim and discard woody bottom ends from asparagus; cut crosswise on a diagonal into 1½-inch-thick pieces and place in a medium bowl (large bowl for 4). Toss with a drizzle of oil, salt, and pepper. Halve grapes.