Cook the Pasta:

1. Bring a large pot of salted water to a boil and cook the penne pasta according to the package instructions.
2. Set aside ½ cup of the water used for cooking the pasta before draining it.
3. Set the pasta aside.

Sauté the Vegetables:

1. Heat ¼ cup of olive oil in a large skillet over medium heat.
2. Add the sliced red onion and carrot, and sauté for 2-3 minutes until they begin to soften.
3. Add the broccoli florets, red bell pepper, yellow squash, and zucchini to the skillet.
4. Season with a pinch of salt and cook for about 5-6 minutes, stirring occasionally, until the vegetables are tender but still slightly crisp.

Add Garlic and Tomatoes:

1. Stir in the minced garlic and halved grape tomatoes, and sauté for another 1-2 minutes until the garlic becomes fragrant and the tomatoes start to soften slightly.

Add Seasoning and Pasta Water:

1. Sprinkle the dried Italian seasoning over the vegetables, then pour in the reserved pasta water.
2. Stir to combine, allowing the liquid to reduce slightly and the flavors to meld together.

Toss with Pasta:

1. Add the cooked penne pasta to the skillet and toss everything together.
2. Stir in the fresh lemon juice and half of the shredded Parmesan cheese, allowing the cheese to melt slightly and coat the pasta and vegetables.

Finish and Serve:

1. Remove the skillet from heat and sprinkle with the remaining Parmesan cheese and chopped parsley.
2. Serve the Pasta Primavera hot, garnished with extra Parmesan and parsley if desired.