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SPRAY each head of garlic lightly with cooking spray; wrap each head separately in foil. Place in small baking pan. Bake at 400°F for 45 minutes. Cool 10 minutes. Separate garlic cloves. Squeeze cloves to extract pulp; discard peels.
PLACE garlic pulp, mustard, lemon juice and pepper in food processor or blender container; cover. Process until pureed; set aside.
COOK and stir zucchini and mushrooms in hot oil in large skillet on medium-high heat for 3 minutes or until zuccini is crisp-tender. Add garlic mixture, water and tomato; mix well. Reduce heat to low; cook until thoroughly heated, stirring frequently. Toss with hot cooked pasta.