Preheat your oven to 400°F (200°C). Wash and chop the vegetables into bite-sized pieces. Peel the carrots and onions if desired.
In a large bowl, whisk together the olive oil, balsamic vinegar, minced garlic, salt, pepper, and fresh rosemary.
Add the vegetables to the bowl and toss to coat them evenly with the balsamic mixture. Spread the vegetables in a single layer on a baking sheet lined with parchment paper.
Roast for 25-30 minutes, flipping the vegetables halfway through, until they are tender and slightly caramelized.
Before serving, drizzle with a little extra balsamic vinegar and garnish with fresh rosemary, if desired.
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