Preheat oven to 425 degrees. Line a large baking sheet with parchment paper or foil (optional). Spread cauliflower, red, yellow and orange peppers and asparagus onto prepared baking sheet. Drizzle with olive oil, sprinkle with salt and pepper and toss to coat. Roast in centre of preheated oven for 30-45 minutes or until lightly browned and softened.
Garlic Dressing: In a bowl, stir together garlic, lemon rind and juice. Whisk in mayo, mustard, Worcestershire sauce, and anchovy paste until smooth. Gradually add olive oil, whisking until mixture is emulsified. Stir in salt.
Spread arugula onto platter and toss with 1 TBS of the dressing.
Toss 3 TBS of dressing with roasted vegetables and spread over arugula. Serve salad warm or at room temperature, adding remaining salad dressing just before serving as needed.