Preheat the oven to 425°F and line a baking sheet with parchment paper.
Grease a 9×13-inch baking dish with olive oil.
Arrange the cremini mushrooms, red bell pepper pieces, zucchini, and yellow onion on the baking sheet.
Drizzle with extra-virgin olive oil, season with sea salt and freshly ground black pepper, and toss to coat evenly.
Spread the vegetables in a single layer and roast for 20 to 25 minutes until tender and browned around the edges.
Lower the oven temperature to 400°F.
While the vegetables roast, bring a large pot of salted water to a boil.
Cook the lasagna noodles according to package instructions until al dente.
Drain and toss with a little olive oil to prevent sticking.
In a large bowl, combine the whole milk ricotta cheese, grated garlic cloves, lemon zest, sea salt, and freshly ground black pepper.
Stir well to create the ricotta filling.
To assemble the lasagna, spread 1 cup of marinara sauce evenly on the bottom of the prepared baking dish.
Layer with noodles, then spread half of the ricotta mixture evenly over the noodles.
Distribute half of the fresh spinach on top, followed by half of the roasted vegetables.
Spoon two thirds cup of marinara sauce over the vegetables.
Repeat the layering process with another layer of noodles, the remaining ricotta mixture, the remaining spinach, the remaining vegetables, and another two thirds cup of marinara sauce.
Finish with a final layer of noodles.
Spread the last two thirds cup of marinara sauce over the top layer of noodles.
Sprinkle evenly with grated mozzarella and pecorino cheeses.
Bake in the oven at 400°F for 30 minutes, or until the cheese is bubbly and golden brown.
Allow the lasagna to rest for 20 minutes before garnishing with fresh basil leaves or chopped fresh parsley.
Slice and serve.