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Preheat oven to 400°F. Lightly oil a large baking sheet or grease with nonstick spray.
Gently toss all ingredients together on the prepared baking sheet, except the ears of corn and cilantro, and spread into an even layer on the tray, leaving a space for the ears of corn.
Place the ears of corn in the empty space on the baking sheet and cook for 35-40 minutes, until vegetables are tender. Remove the corn and set aside to cool for 5 minutes.
Turn the oven onto broil. Broil the remaining sausage and veggies for 1-2 minutes. Remove from heat.
When ears of corn are cool enough to touch, remove the husks and slice the kernels off the cob. Add the kernels to the sheet tray and top with cilantro as desired. Serve immediately.