In a shallow dish, whisk together balsamic vinegar, olive oil, soy sauce, rosemary, garlic powder, black pepper, and cayenne pepper until well combined.
Add portobello mushrooms to the marinade, ensuring both sides are coated. Marinate for 5 minutes per side, or up to 30 minutes for deeper flavor.
Heat grill to medium temperature and brush grill grates with canola or vegetable oil to prevent sticking.
Remove mushrooms from marinade and reserve the remaining liquid for basting.
Grill mushrooms for 3-4 minutes per side, basting with reserved marinade during cooking.
Cook until mushrooms are caramelized and golden brown with visible grill marks.
Serve warm as desired, optionally with avocado sauce or as burger patties.