Preheat oven to 200C. Mix together chopped veg, garlic, oil, thyme/rosemary sprigs and a little black pepper. Roast ~40min until soft and charred on the edges, stirring once or twice. Remove from oven and add a squeeze of lemon juice.
Meanwhile, toast millet in a dry pan 3-5min to light brown. Add stock, bring to boil, reduce heat, cover and simmer ~25min.
Fluff millet with a fork and stir through roasted veg, sun-dried tomatoes and olives. Drizzle over the balsamic vinegar, season with salt and pepper and stir in chopped herbs.
Delicious served warm with fresh salad leaves.