In a small bowl, combine the balsamic vinegar, olive oil, lemon juice, garlic, and kosher salt.
Wipe the mushrooms clean with a damp paper towel. Gently twist or cut off the stems. Use a spoon to scrape out the gills.
Using a pastry brush, coat the gill side with about a third of the marinade.
Heat a 2-burner griddle, a grill pan, or an outdoor grill on medium heat. Grease the grill well.
Place the mushrooms, gill side down, on the grill. Grill until the gill side is browned and tender, 4-5 minutes.
When the gill side is almost ready, brush the tops of the mushrooms with another third of the marinade.
Flip the mushrooms so that they're gill side up. Continue grilling them until they are browned and tender, 2-3 more minutes.
Transfer the mushrooms to a plate. Brush them with the remaining marinade, sprinkle them with parsley, and serve.
Video
Notes
Please use aged balsamic vinegar. A young vinegar will be too acidic.
After the first 1-2 minutes on the grill, as the mushrooms begin to soften, you can gently press on them to flatten. This will promote even grilling. But be gentle, or the mushrooms could fall apart.
I remove the stems. Though edible, they can be tough, fibrous, and unpleasant to eat. The gills are also edible, but they tend to release a dark-colored liquid, so it's a good idea to scrape them off with a spoon.
You can keep the leftovers in an airtight container in the fridge for 3-4 days. You can reheat them in the microwave, but I prefer them cold. I make an antipasto plate with cold leftover grilled portobellos, meats, and cheeses.