Preheat the oven to 425 degrees F. Spray a large shallow roasting pan with cooking spray.
Toss the carrots, garlic, shallots, parsnips, oil, rosemary, salt and pepper in a large shallow roasting pan until well mixed. Spread the vegetables out in one even layer and roast, stirring occasionally, until the vegetables are browned and tender, about 40 minutes.
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