Season the chicken all over with salt and pepper. Place the chicken in the marinade, turning to coat thoroughly. Cover and refrigerate for at least 30 minutes but ideally 1–4 hours for maximum flavor and tenderness.
Place the asparagus, zucchini chunks, and bell pepper chunks on a large sheet pan, drizzle with olive oil and salt and pepper and toss to coat.
Heat a gas or charcoal grill to medium high heat (about 375–425°F) and lightly oil the grates.
Remove the chicken from the marinade, letting excess drip off. Grill the chicken for about 6–7 minutes per side, turning once, until the internal temperature reaches 165°F and the edges are lightly charred. Transfer to a clean plate and let rest for 5 minutes, then slice if desired.
Place the zucchini chunks on the grill, cut side down, and grill for about 4–5 minutes without moving, until you get nice grill marks. Flip and cook for 3–4 minutes more until tender and lightly charred.
Add the bell pepper chunks to the grill and cook for about 6–8 minutes, turning occasionally, until softened and slightly charred at the edges.
Place the asparagus on the grill, rolling them occasionally so they cook evenly, and grill for 5–7 minutes until crisp tender and lightly browned. Transfer all vegetables to a clean plate or tray; keep them warm if the grill is still hot.
Place the lemon halves cut side down on the grill for 2–3 minutes, or until the edges are lightly browned and the flesh has softened slightly. Remove and set aside for serving.