Preheat your oven to 425 degrees F. Line a large baking sheet with foil and coat with nonstick spray.

Place the chicken thighs on the baking sheet. Peel and chop the potatoes into 1/2 to 1-inch pieces. Peel and slice the carrots. Slice half an onion. Arrange all three vegetables around the chicken on the pan.

Slice the zucchini and place it on the pan separately from the other vegetables. You will be pulling it off in the next step, so keep it easy to grab.

Sprinkle the minced garlic over the chicken and vegetables. Drizzle the entire pan with 1/4 cup olive oil. In a small bowl, stir together the salt, pepper, paprika, cumin, and garlic powder.

Sprinkle the spice mix over the chicken and vegetables. Use your hands to coat everything well. Transfer the zucchini slices into the now-empty spice bowl, toss to coat, and set aside.

Zest one lime over the pan, then juice it directly over everything. Slice the second lime into wedges and scatter across the pan. Lay the rosemary sprigs on top.

Roast at 425 degrees F for 20 minutes. While the chicken cooks, juice the third lime into a small bowl. Slowly whisk in 1 to 2 tablespoons of olive oil until the mixture comes together. Season lightly with salt and pepper. Set the glaze aside.

After 20 minutes, remove the pan from the oven and flip each piece of chicken. Spread the coated zucchini slices over the other vegetables.

Return the pan to the oven and bake for another 10 to 15 minutes, until a meat thermometer inserted into the thickest piece of chicken reads 165 degrees F.

Let the chicken rest for 4 to 5 minutes before serving. Discard the baked lime wedges and rosemary sprigs. Drizzle with the lime glaze and serve garnished with fresh rosemary and lime wedges.