1. While preheating oven to 425 F/220 C, grease 2 baking pans with olive oil. Arrange yams, parsnips, and carrots on the baking pans and bake for about half an hour. Add zucchini and asparagus to the roasted vegetables, drizzle with the remaining olive oil. Bake for another 30 minutes or until the vegetables are tender. Remove from the oven and let stand for 30 minutes.
2. In a large bowl combine roasted peppers with garlic, basil, salt, and black pepper. Add the roasted vegetables, mix well. Serve at room temperature or cold.