In a large skillet with deep sides, heat the olive oil over medium heat.
First, add the garlic and onion and cook, stirring often, until the onions are softened, 3 to 5 minutes. Next, add the zucchini, okra, and tomatoes. Stir until coated with the olive oil and garlic and cook for 5 minutes.
Stir in the herbs and season with salt and pepper. Lower the heat and cook until the okra are tender, 6 to 8 minutes more.