Preheat your oven to 400°F (200°C) and line a large rimmed baking sheet with parchment paper.
Mince the garlic cloves finely and slice the zucchini and yellow squash into half-inch thick half-moons.
In a small mixing bowl, whisk together the extra virgin olive oil, minced garlic, dried rosemary, dried thyme, sea salt, and black pepper.
Pat the chicken thighs dry with a paper towel and place them on one side of the prepared baking sheet.
Arrange the sliced zucchini and yellow squash on the other side of the baking sheet in a single layer.
Brush the herb oil mixture generously over both sides of the chicken thighs, then drizzle the remaining oil over the squash, tossing the vegetables gently to coat.
Bake for 20 to 25 minutes, or until the chicken reaches an internal temperature of 165°F and the vegetables are tender and slightly caramelized.
Remove from the oven, drizzle the fresh lemon juice over the entire tray, and let the chicken rest for 5 minutes before serving.