Preheat oven to 375° F and grease a 9×13 baking dish.
Prepare vegetables as directed in ingredient list, trying to keep them close to the same size. Place them into a large bowl.
Whisk together all remaining ingredients except rosemary. Reserve 2 Tbsp. of the mix and pour the rest evenly over the vegetables, tossing them together so all vegetables are coated with the maple-balsamic sauce.
Pour into the prepared pan and arrange them evenly over the bottom of the pan. Sprinkle with fresh ground pepper and arrange rosemary sprigs on top of the vegetables. .
Slide the pan into the oven and roast at 375° F for 45-60 minutes until tender or cooked to desired tenderness, stopping to pour remaining sauce over the vegetables about 10 minutes before they are done. I did this at 40 minutes. Check with a fork at 45 minutes and add more time if needed.
Remove from oven. Serve and enjoy!