Bring a large pot of salted water to a boil. Add the pasta and cook according to package instructions until al dente. Reserve 1 cup of pasta water, then drain the pasta in a colander.

In a skillet, heat the olive oil over medium heat. Add the minced garlic and sauté for 1 minute until fragrant.

Add the asparagus and zucchini, cooking for about 5 minutes until they start to soften.

Stir in the peas and cherry tomatoes, cooking for an additional 3-4 minutes until all vegetables are tender.

Add the cooked pasta to the skillet with the vegetables. Pour in the reserved pasta water, lemon zest, lemon juice, salt, and pepper. Toss everything together until well combined.

Serve warm, topped with grated Parmesan cheese if desired.