Depending on the size of the mushrooms, quarter or halve them, so that they are bite sized... If they're small enough, leave them whole. Transfer mushrooms to a medium bowl and add minced garlic. Set aside.
In a small bowl, combine the balsamic vinegar, worcestershire sauce, maple syrup, soy sauce, dijon, olive oil, salt and pepper. Whisk to combine.
Pour the dressing over the mushrooms and toss to coat. Transfer the mushrooms using a slotted spoon to a baking sheet -- leave any excess marinade in the bowl. Spread the mushrooms in a single layer and roast for 10 minutes. Drain off the excess liquid from the pan and use a spatula to flip the mushrooms. Return the pan to the oven and roast for an additional 8-10 minutes.
Sprinkle with parsley and toss to combine. Serve warm or at room temperature.