Preheat your oven to 425°F (220°C).

Wash and dice the zucchini and yellow squash into 1-inch cubes, then cut the asparagus into 2-inch lengths.

Peel and finely mince the garlic and slice the mushrooms to your desired thickness.

Combine the diced zucchini, yellow squash, asparagus, minced garlic, and sliced mushrooms in a medium oven-safe pan.

Drizzle olive oil over the vegetables and sprinkle with rosemary and parsley, tossing to coat.

Spread the vegetables evenly in the pan and place in the oven to roast for 30-40 minutes, stirring halfway through.

Check for doneness; vegetables should be tender with a golden-brown hue.

Let cool slightly before serving.