Rustic Fall Vegetable Soup

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1 tablespoon butter or olive oil

1 medium yellow onion, diced

1 clove garlic, minced

1 medium winter squash, peeled and diced

1 medium zucchini, diced

1 medium sweet potato, peeled and diced

1/2 cup orzo

1 (28-ounce) can crushed tomatoes

1 teaspoon dried thyme leaves

1 teaspoon dried rosemary

4 cups low-sodium chicken broth

Salt and freshly ground black pepper