Chop the root vegetables into roughly bite-sized chunks. Roast the root vegetables together in the oven after coating lightly with about a teaspoon of the oil. Roast with the rosemary and some ground pepper for about 40 minutes at 350°F, or until at a good eating texture.
While roasting, remove most of the outer paper peel on the garlic, coat lightly with a few drops of the oil, then wrap in foil and roast in the same oven at 350°F for about 30 minutes. Keep both this and the ingredients of the previous step warm.
In a saute pan, place the rest of the oil and heat to moderate on your range top. Add the mushrooms and the ground venison, being sure to break up chunks and stir often. Add the sauce and seasonings including more ground pepper. You may add the bell pepper here, too; I just simply prefer it al dente.
Simmer and stir until the mushrooms are cooked and the venison has just turned no longer pink. (You may add more Worcestershire sauce if the mixture is not moist enough enough.)
Mix into a casserole dish with the roasted garlic - squeeze it so that the garlic pulp comes out, and discard the rest of the head. Mix in the root vegetables, and then the asparagus (broken into bite sized pieces), hearts of palm (sliced crossways) and the bell pepper (de-seeded and chopped) if you not have already added the latter.
Immediately bake at 350°F for approximately ten minutes, and enjoy.
If you've prepped this earlier for heating as a casserole later, yes, you'll need to cook this final stage longer.