Preheat your oven to 425°F (220°C) to ensure even roasting.

Dice your zucchini and yellow squash into 1-inch cubes. Cut the asparagus into 2-inch lengths, mince the garlic, and slice the mushrooms.

In your prepared oven pan, combine all the chopped vegetables: zucchini, yellow squash, asparagus, garlic, and mushrooms.

Drizzle olive oil over the mixed vegetables, ensuring they are well-coated. Sprinkle fresh rosemary and dried parsley over the top.

Using your hands or a spatula, toss the vegetables thoroughly to ensure even coating.

Place the pan in the preheated oven and roast for 30-40 minutes, stirring halfway through for even roasting.

Remove the pan from the oven once the vegetables are tender and slightly golden in color.

Transfer the roasted vegetables to a serving platter and enjoy with your main course.