Cook pasta according to package directions. Add asparagus in last 3 minutes of cooking time. Drain; transfer to large bowl.
Meanwhile, preheat indoor or outdoor grill to medium-high heat. Brush mushroom caps with olive oil; sprinkle with salt and pepper. Grill for about 5 minutes per side or until grill-marked and tender. Remove from grill and slice.
Balsamic Vinaigrette: Meanwhile, whisk together olive oil, balsamic vinegar, lemon juice, mustard, garlic, salt and pepper.
Add mushrooms, spinach, onion and sun-dried tomatoes to pasta mixture; toss with dressing until evenly coated. Let stand for 30 minutes. Sprinkle with goat cheese and basil.