Trim any unwanted fat off the chicken thighs and place them in a bowl or bag. Combine yogurt, two cloves of garlic, lemon juice, and basil paste. Pour the mixture over the chicken and marinate for 30 minutes to 24 hours.
Preheat the oven to 425°F.
Chop the tomatoes, shallot, and basil, and add to a large sheet pan (21x15). I recommend that you use at least two pans. Drizzle olive oil, add an additional clove of garlic, and season with salt and Italian seasoning over the tomato mixture. Roast for 15 minutes.
Remove the pan from the oven and give the tomatoes a toss. Spread the zucchini around the pan. Push the vegetables to the edges and place the marinated chicken in the center of the pan. Avoid overcrowding. Season the zucchini and chicken with a pinch of Kosher salt and a little pepper. Give a light mist of olive oil spray. Return the pan to the oven for 10 minutes.
After 10 minutes, make space to add asparagus to one side of the pan. Toss the asparagus in the oils and juices from the pan, then sprinkle with salt, pepper, and the zest of one lemon. Bake for an additional 5 minutes. Turn on the broiler for a final 5 minutes to achieve some browning.
Serve the cooked chicken and veggies over your preferred base like grains, cauliflower rice, or zucchini noodles. Alternatively, create roasted tomato chicken sandwiches and enjoy the zucchini and asparagus as side dishes.
For bowl options, consider using farro or brown rice, and finish with a drizzle of balsamic glaze, dairy-free feta, arugula, and fresh basil!