Grilled Vegetables With Couscous and Yogurt Sauce

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2 bell peppers (any color), stemmed, seeded and quartered

1 yellow squash, sliced into 1/4-inch-thick rounds

8 ounces shiitake mushrooms, stemmed

2 cloves garlic, unpeeled

2 to 3 sprigs thyme, rosemary or oregano

3 tablespoons extra-virgin olive oil, plus more for brushing

Kosher salt and freshly ground pepper

1 large red onion, sliced into 1/4-inch-thick rounds

1 10-ounce package couscous

1/2 cup 2% Greek yogurt

1/4 cup sliced almonds, toasted