Bring a large pot of salted water to a rolling boil. Add the pasta and cook according to package directions until al dente, usually about 10-12 minutes. The pasta should have a slight bite to it since it will continue cooking slightly when tossed with the vegetables.

Before draining, reserve 1 cup of the starchy pasta water. Drain the pasta and set aside.

While the pasta cooks, heat the olive oil in your largest skillet over medium heat. Add the minced garlic and let it sizzle for about 30 seconds, just until fragrant. Watch carefully to avoid burning — if the garlic browns too quickly, pull the pan off the heat for a moment.

Add the zucchini and yellow squash to the skillet, stirring to coat them in the garlic oil. Cook for about 5 minutes, stirring occasionally, until they develop golden edges and start to soften. The vegetables should still have some texture.

Add the cherry tomatoes, salt, and pepper. Cook for another 5-7 minutes, gently pressing some of the tomatoes with your spoon to encourage them to burst and release their juices, creating a light, fresh sauce.

Add the drained pasta directly to the skillet with the vegetables. Toss everything together, adding splashes of the reserved pasta water as needed to create a glossy sauce that coats the pasta. Start with 1/4 cup and add more if it looks dry.

Remove from heat and stir in the torn basil, Parmesan, lemon zest, and lemon juice. The heat from the pasta will wilt the basil slightly and melt the cheese into creamy pockets throughout the dish. Taste and adjust seasoning with more salt or an extra squeeze of lemon as desired.