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

Place the chicken thighs on the prepared pan. Arrange the chopped potatoes, sliced carrots, and onion around the chicken in a single layer. Place the sliced zucchini on the pan but keep it separate from the other vegetables.

Sprinkle the minced garlic over the chicken and vegetables. Drizzle the entire pan with 1/4 cup of olive oil.

In a small bowl, combine the salt, pepper, paprika, cumin, and garlic powder. Sprinkle the spice mix evenly over everything and use your hands to coat the chicken and vegetables well. Remove the zucchini to the now-empty spice bowl and set aside.

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

Roast at 425 degrees F for 20 minutes. While the chicken roasts, make the optional lime glaze by juicing the third lime into a small bowl and slowly whisking in 1 to 2 tablespoons of olive oil until emulsified. Season with a pinch of salt and pepper.

Remove the pan from the oven and flip each piece of chicken. Spread the reserved zucchini over the other vegetables. Return to the oven and roast for another 10 to 15 minutes, until a meat thermometer reads 160 degrees F at the thickest part.

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