I didn’t cancel my asylum application , it’s still pending with the USCIS , because the interview was not scheduled yet. As an asylum applicant you can travel outside of US and come back with no issues as long as you have you advance parole . The problem usually is to get your advance parole approved, they tend to deny it for us. If your case was transferred to the court already , advance parole isn’t an option for you . You have to wait until your master hearing and request a judge to close your asylum case and most important thing - request volunteer departure granted to you . That’s very important to have
P.S and yes, in order to get advance parole you just have to fill up the I-131 form