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Spray a 4- to 5-quart slow cooker with nonstick cooking spray. Cut 2" tips from asparagus and florets from cauliflower and place in slow cooker; set aside asparagus stalks and cauliflower stems for use in other recipes.
Stir in carrots, turnips, peas, broth, salt, and pepper. Cover and cook on low 3½ hours.
Stir in cilantro and cook 30 minutes more.