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Preheat a well-oiled grill to medium heat. (TIP: If using a grill pan, you’ll heat it in step 4.) Bring a large pot of salted water to a boil. Wash and dry produce.
Using the tip of a spoon, remove and discard black gills from undersides of mushrooms; trim any large stems if necessary. Halve mushrooms. Halve, core, and quarter bell pepper. Halve tomatoes lengthwise. Peel and mince garlic. Pick parsley leaves from stems; roughly chop leaves.