Bring a large pot of water to a rolling boil over high heat. Add a pinch of salt and the penne pasta. Cook for 10-12 minutes until al dente. Reserve 1/2 cup pasta water before draining.

Heat a large skillet over medium-high heat and add olive oil. Heat until shimmering.

Add diced red onion and sliced carrot to skillet, sauté for about 2 minutes until onion is translucent.

Incorporate broccoli florets and chopped bell pepper, continuing to sauté for another 2 minutes.

Add diced yellow squash and zucchini to the pan, stirring for about 3 minutes until they soften slightly.

Add minced garlic, halved cherry tomatoes, and Italian seasoning, cooking for an additional 2 minutes until fragrant.

Drain the pasta and add it to the skillet with the sautéed vegetables. Toss until well-coated.

Drizzle with lemon juice and add reserved pasta water gradually to adjust sauce consistency.

Sprinkle in grated Parmesan cheese and toss gently to incorporate. Serve immediately.