In a medium bowl, combine the vinegar, Dijon mustard, minced garlic, salt, and pepper. Slowly whisk in the extra-virgin olive oil until the dressing emulsifies.
Add the drained white beans, minced shallots, radishes, and fresh parsley directly into the bowl with the vinaigrette. Toss gently to coat. Let the mixture sit at room temperature for 15 to 20 minutes so the beans absorb the tangy flavors.
Arrange a fresh bed of baby arugula on a large serving platter or divide it among individual plates.
Spoon the marinated white bean mixture—along with the extra vinaigrette from the bowl—directly over the top of the arugula. Garnish with shaved Parmesan or toasted pine nuts if desired, and serve immediately.
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