Cook the pasta: Bring a large pot of salted water to a boil. Add the pasta and cook according to the package instructions until al dente. Drain the pasta, reserving about 1/2 cup of pasta cooking water.
- Prepare the vegetables: While the pasta is cooking, heat olive oil in a large skillet over medium heat. Add the garlic and sauté for 1-2 minutes until fragrant, being careful not to burn it.
- Sauté the vegetables: Add the zucchini, bell pepper, and broccoli (or asparagus) to the skillet. Sauté for 5-7 minutes, or until the vegetables are tender-crisp. Add the cherry tomatoes and peas (if using) and cook for another 2-3 minutes until the tomatoes are softened but not mushy. Season with salt and pepper to taste.
- Combine the pasta and vegetables: Add the drained pasta to the skillet with the vegetables. Toss everything together, adding a bit of the reserved pasta water to create a light sauce that coats the pasta and vegetables. Stir in the Parmesan cheese, if using, and toss again to combine.
- Serve: Serve the pasta primavera immediately, garnished with fresh basil or parsley, and a squeeze of lemon juice if desired.