Preheat the oven to 200 °C (400°F). Line a baking sheet with parchment paper.
Microwave asparagus in a dish with a splash of water for 3 to 4 minutes. Set aside.
On the prepared baking sheet, arrange zucchini, yellow squash, and grape tomatoes. Drizzle with olive oil, then sprinkle with garlic and sea salt.
Roast in the preheated oven for 5 minutes. Add asparagus and continue roasting until veggies are tender, about 3 to 5 more minutes.
Transfer roasted vegetables to a serving bowl. Squeeze lemon juice over them and season with additional sea salt.
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