Preheat grill on high.
Toss chicken with 3 tbsp oil, 2 tsp Italian seasoning, 1 tsp garlic, salt and pepper.
Toss the peppers, mushrooms, and zucchini with ½ cup oil, 2 tsp Italian seasoning, 1 tbsp garlic, balsamic, salt and pepper.
Turn grill to medium high and place chicken skin side down for about 5 minutes until skin is golden brown and releases from the grill.
Now place the rosemary sprigs on the grill and put the bone side of the chicken on top of the rosemary so the skin side is up. If available, use a BBQ cooking mat so the rosemary doesn’t burn. Cook for about 15-20 minutes until thigh reaches 165°F.
While chicken is cooking, place the vegetables onto the grill and cook until tender, about 4 minutes per side.
Remove the chicken and vegetables from the grill and enjoy!