Chop all the vegetables, as specified in the ingredient list. Preheat oven to 450 degrees F. Mix thyme, rosemary, basil (if using), garlic, olive oil, balsamic vinegar, salt, and pepper together in a bowl; set aside. Put the chopped vegetables in a large bowl, then pour the oil/vinegar/herb mixture over the vegetables. Stir until all the vegetables are coated evenly. Line a baking sheet or roasting pan tray with aluminum foil, and lightly spray with cooking spray. Spread the vegetables evenly on the pan and pour the remaining oil/vinegar/herb mixture on top (you can also put additional salt and/or pepper on now, if you want to). Roast for 40 minutes, stirring every 15-20 minutes, or until potatoes are soft when poked with a fork.