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PREHEAT oven to 325°F. Cut zucchini lengthwise in half, then cut each piece crosswise in half. Place in 15x10x1-inch baking pan. Add tomatoes, onions, bell peppers, carrots and garlic; mix lightly. Bake 30 to 45 min. or until tender and golden brown; cool.
CHOP vegetables; place in large saucepan. Add chicken broth, cumin and crushed red pepper;mix well. Bring to boil on high heat. Reduce heat to medium-low; simmer, uncovered, 5 min.
ADD chicken and mustard; mix wel. Cook an additional 5 min. or until heated through. Stir in parsley.