Thoroughly wash and dry all the vegetables. Slice the zucchini and eggplant into approximately ¼-inch thick slices. Cut the bell peppers into strips, the onion into thicker rings, and leave the mushrooms whole if they are small.
In a small bowl, combine the olive oil, minced garlic, salt, pepper, and chopped rosemary. This will be your marinade.
Place the vegetables in a large bowl and pour the prepared marinade over them. Toss well to ensure all vegetables are evenly coated. Let it sit for 10-15 minutes.
Preheat your grill to medium-high heat. If using a gridded grill, lightly oil the grates to prevent the vegetables from sticking.
Place the vegetables on the grill and cook for 3-5 minutes per side, until they have nice grill marks and are slightly softened but still crisp.
During the last minute of grilling, brush the vegetables with BBQ sauce using a brush. Cook for another minute to allow the sauce to slightly caramelize.
Remove the vegetables from the grill and sprinkle with fresh rosemary before serving. Serve warm, either as a side dish or as a main course.
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