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Preheat the oven to 425°F (220°C). Arrange the zucchini, red bell pepper, and red onion in a single layer on a large rimmed baking sheet. Drizzle with 2 tbsp of the olive oil, sprinkle with the salt and black pepper, and toss to coat evenly.
Roast for 15 minutes, until the vegetables begin to soften and color at the edges. Add the cherry tomatoes and asparagus to the baking sheet, drizzle with the remaining 1 tbsp olive oil, and toss gently to combine.
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