One-Pan Roast Chicken with Vegetables

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6 skin-on, bone-in chicken thighs

Kosher salt and black pepper 

1/4 cup olive oil 

1 pound baby Yukon Gold potatoes, scrubbed and cut into 1-inch chunks

10 cloves garlic

10 pearl onions

7 sprigs fresh thyme, leaves stripped, plus 6 sprigs

2 parsnips, peeled and sliced 1-inch thick

1 lemon, thinly sliced