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Line a baking sheet with parchment paper and preheat the oven to 400°F.
Add the Brussels sprouts, potatoes, mushrooms, asparagus, bell pepper, onion, and garlic to a large bowl.
Stir in the olive oil, salt, and pepper, and use a spatula or your hands to evenly coat all the vegetables.
Transfer the veggies to the baking sheet and arrange in an even layer.
Roast for 40 minutes, then in the last 5 minutes increase the temperature to 500°F to help the veggies crisp up.
While the veggies cook, make the dressing in the same bowl as before. Whisk together the garlic, olive oil, Dijon mustard, cilantro, parsley, salt, and black pepper until combined.
Once the veggies are crisp on the outside and tender inside, return them to the bowl and toss gently in the dressing.
Just before serving, in another bowl (or just in the arugula container), dress the arugula with the lemon juice, olive oil, and salt and gently stir to get everything combined.
Plate the arugula, then top with the roasted vegetables.