Preheat the oven to 425°F. Place the butternut squash, carrots, parsnips, sweet potato, and onion on a large baking sheet. Drizzle with olive oil and sprinkle with rosemary, thyme, salt, and pepper. Toss to coat evenly.
Roast the vegetables for 25 minutes until they start to brown at the edges. Add the minced garlic to the sheet for the last 5 minutes of roasting.
Transfer the roasted vegetables to a large pot. Add the vegetable broth, cannellini beans, lemon zest, and lemon juice. Bring to a simmer over medium heat and cook for 10 minutes to let the flavors combine.
Taste and adjust salt if needed. Remove from heat and stir in the fresh parsley just before serving.