Preheat oven to 500°.
Combine vinegar and shallots in a small bowl; set aside.
Trim green tops from carrots; discard tops. Combine carrots and the next 5 ingredients (through radishes) in the bottom of a roasting pan, tossing gently to combine. Bake at 500° for 20 minutes or until vegetables begin to brown, stirring occasionally. Remove pan from the oven; add shallot mixture and asparagus, tossing to combine. Return pan to oven; bake 5 minutes. Stir in parsley and chives.