Preheat the oven to 400°F (200°C). Line a baking sheet with parchment paper.
Microwave the asparagus: Place the asparagus in a microwave-safe dish, add a splash of water, cover, and microwave on high for 3-4 minutes until slightly tender.
Prepare the zucchini, squash, and tomatoes: Arrange zucchini, yellow squash, and grape tomatoes on the baking sheet in an even layer.
Drizzle and season: Drizzle the vegetables with olive oil, sprinkle with minced garlic, and season with sea salt.
Roast: Place the baking sheet in the oven and roast the vegetables for 5 minutes.
Add the asparagus: After 5 minutes, add the microwaved asparagus to the sheet and roast for an additional 3-5 minutes, until all vegetables are tender and lightly golden.
Final seasoning: Remove from the oven, transfer to a serving bowl, squeeze lemon juice over the vegetables, and adjust seasoning with sea salt to taste.
Serve: Enjoy as a side dish or a light main course!