Asparagus, Bacon, Corn, and Sweet Potato Skillet

slices bacon (cut into 1" pieces)

large sweet potatoes (2 1/2 - 3 cups, diced into 1/2" cubes)

asparagus (trimmed and cut into 1 1/2" pieces)

ear of corn (kernels removed)

kosher salt (to taste)

freshly cracked black pepper (to taste)

Optional: 1 tablespoon balsamic vinegar