Heat oven to 350°F. In shallow roasting pan, place pork roast. In small bowl, mix parsley, rosemary, thyme and garlic; rub mixture evenly over pork. Insert meat thermometer so tip is in thickest part of pork and not resting in fat.
Roast uncovered about 1 hour 5 minutes to 1 hour 10 minutes or until thermometer reads 155°F. Remove pork from pan; place on cutting board. Cover with foil; let stand 10 minutes or until thermometer reads 160°F.
Meanwhile, in same roasting pan, stir soup into pan drippings. Stir in milk until smooth. Add mushrooms; cook and stir over medium-low heat until mixture boils. Cut pork into slices; serve with gravy.