In a large mixing bowl, combine the carrots, parsnips, sweet potato, red potato, turnip, and garlic cloves.
Drizzle the olive oil over the vegetables. Add the minced rosemary, thyme, salt, and pepper. If you wish to enhance the flavor, add balsamic vinegar. Toss everything until the vegetables are evenly coated with the olive oil and herbs.
Spread the seasoned vegetables in a single layer on a large baking sheet. Ensure there's some space between the pieces to promote even roasting.
Place the baking sheet in the preheated oven and roast the vegetables for about 35-40 minutes. Every 15 minutes, stir the vegetables to ensure they cook evenly and develop a beautiful golden brown color.
The vegetables are done when they are fork-tender and lightly caramelized. If they need more time, continue roasting, checking every 5 minutes.
Once cooked, remove the baking sheet from the oven. Transfer the roasted vegetables to a serving platter and sprinkle with fresh parsley, if desired. Serve warm and enjoy!