Preheat oven to 425 degrees Line a large rimmed baking sheet with nonstick foil or parchment paper.
Place chopped vegetables into a large bowl.
In a small bowl, whisk together olive oil, lemon juice and zest, rosemary, and garlic and pour over vegetables. Toss to coat well.
Arrange vegetables on prepared sheet pan. Try to keep a little bit of space between the vegetables if possible so they can cook evenly. Use two sheet pans if necessary. Sprinkle evenly with salt and pepper.
Roast for 20 minutes, then stir and roast an additional 15-20 minutes or until veggies are tender. The actual cooking time could vary quite a bit depending on how small you cut your vegetables.