In a mixing bowl, whisk together olive oil, balsamic vinegar, garlic powder, salt, and ground black pepper. Add in dried oregano, lemon zest, and chopped fresh herbs.

Cut bell peppers into strips, slice zucchini and yellow squash into ½-inch rounds, and halve cremini mushrooms. Trim ends of green beans and asparagus.

Toss chopped vegetables in the marinade and let sit for at least 15 minutes.

Preheat grill to medium-high heat.

Grill bell peppers, zucchini, and red onion for approx. 2 minutes per side until charred and tender.

Prepare a foil packet with asparagus and green beans, drizzle with marinade, seal tightly, and place on the grill for 15-20 minutes.

Use a grill basket for mushrooms and zucchini, grill for about 10-12 minutes, turning every 3 minutes until golden brown.

Remove all vegetables from the grill, serve on a platter, and adjust seasoning as needed.