In small saucepan over low heat, whisk together oil, garlic, rosemary and a dash of salt and pepper. Heat for 5 minutes and set aside to cool.
Cover sundried tomatoes with hot water and soak for 10 minutes. Drain.
Heat grill and brush with olive oil.
Brush zucchini, yellow squash, eggplant, mushrooms, onions, asparagus, bell peppers, fennel and lemon slices with herbed garlic oil. Place vegetables and lemon slices on preheated grill and cook 4 to 5 minutes per side until slightly charred on edges and tender.
Remove vegetables and lemon slices from grill. De-stem and de-seed peppers and cut into strips.
Arrange vegetables on a serving platter, along with sundried tomatoes, artichokes and olives. Sprinkle with basil and season with additional salt and pepper, to taste.
Garnish with grilled lemon slices and drizzle with additional olive oil and white balsamic vinegar.