Bring a large pot of salted water to a rolling boil over high heat. Once boiling, add the penne pasta and cook for 10-12 minutes or until it reaches al dente. Reserve ½ cup of the pasta cooking water, then drain the rest and set aside.

In a deep skillet or sauté pan, pour in about 2 tablespoons of olive oil and heat over medium-high heat until shimmering, which should take about 1-2 minutes.

Add the chopped red onion and carrot to the hot oil, stirring frequently for about 2 minutes.

Stir in the broccoli florets and red bell pepper, continuing to sauté for an additional 2 minutes.

Next, toss in the yellow squash and zucchini, cooking for another 2-3 minutes.

Mix in the minced garlic, grape tomatoes, and the dried Italian seasoning. Sauté for an additional 2 minutes.

Carefully toss the drained penne pasta into the skillet with the sautéed veggie mix. Use tongs to combine everything gently.

Drizzle the mixture with fresh lemon juice, then season with salt to taste. Gradually mix in the reserved pasta water, adjusting for the desired sauce consistency. Fold in the grated Parmesan cheese and chopped parsley.