Cook the Pasta: Bring a large pot of generously salted water to a boil. Add the penne and cook according to package directions until al dente. Drain the pasta and drizzle with a little olive oil to prevent sticking while you prepare the vegetables.
Sauté the Vegetables: In a large skillet or sauté pan, heat the olive oil over medium heat. Add the sliced garlic and cook for 30 seconds until fragrant. Stir in the squash, zucchini, asparagus, cherry tomatoes, red onion, sea salt, and several turns of black pepper. Cook for 3–4 minutes, stirring frequently, until the vegetables are just tender and slightly caramelized.
Combine Pasta and Veggies: Add the cooked penne to the skillet with the sautéed vegetables. Toss in the thawed peas, grated pecorino cheese, and lemon juice. Sprinkle in a pinch of red pepper flakes for a gentle heat kick. Toss everything together until well combined and heated through.
Finish with Fresh Herbs: Turn off the heat and stir in the chopped basil and tarragon (if using). Taste and adjust seasoning with extra salt, pepper, or lemon juice as needed.
Serve and Garnish: Transfer the pasta primavera to plates or a serving bowl. Top with extra fresh basil and an extra grating of cheese if desired. Serve warm and enjoy the fresh flavors!