Fill a large saucepan with water and bring it to a gentle boil. Reduce heat to a simmer so the water has small bubbles rising but isn’t rolling. Add the white vinegar.

Crack each egg into a separate small bowl. Optional: for neater poached eggs, strain the egg through a fine-mesh sieve to remove the thinner, runnier whites.

Stir the simmering water gently in a circular motion to form a small whirlpool. This helps the egg white wrap neatly around the yolk.

Carefully slide one egg at a time into the center of the whirlpool. Let it cook for 3-4 minutes, until the white is fully set and the yolk remains soft. Keep the water at a gentle simmer to avoid breaking the eggs.

Use a slotted spoon to lift each egg out of the water. Blot the spoon on a paper towel or kitchen towel to remove excess water.

Place the roasted asparagus on a serving plate. Top with the poached eggs and season with additional salt and pepper. Garnish with fresh parsley and a wedge of lemon if desired. Serve immediately.