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Preheat the oven to 400F.
In a large mixing bowl, add potatoes, carrots, asparagus, radishes, parsnips and garlic. Drizzle with olive oil and season with Italian seasoning, soy sauce, vinegar, salt, and pepper. Toss to combine until well coated.
Arrange the vegetable mixture in a single layer on a large half sheet baking pan.
Bake at for 30 to 35 minutes until tender and golden brown. Gently shake the sheet pan halfway through baking to ensure even cooking.