In my personal opinion on poaching...
there's a reason chefs poach. You can control the temperature to extend the life of a meal component without risking bacterial infection. The key is to keep the temperature of the water EXACTLY at the internal finish temperature of the item you are cooking, and let it cook until it reaches that temperature. so if you need to poach something that needs to be 165 degrees before eating, set your water to 165 degrees, put in your something, and let it go until it reaches that internal temp.
Using shrimp as an example...slow cooking shrimp will prevent rubberyness, as well as curbing the curling effect, if not eliminating it. All you need to do is make sure the temperature of your poaching solution is at 160 degrees, enough to kill listeria. You have about a half hour window after your shrimp reaches that internal temp, although it may be hard to read due to the small size of shrimp go by color, and don't use naturally pink while raw shrimp for this technique. when its pink and the texture gets quasi rubbery opposed to squishy, its ready.
It'll be the best shrimp you ever ate.