Preheat the oven to 400°F (200°C).
Falafel: Combine the dry falafel mix with water according to package directions. Let it soak while you prepare the veggies (see meal-prepping tips below).
Veggies: Wash the veggies. Peel the carrots and cut them lengthwise in half, then into bite-sized pieces. Remove the core of the red pepper and cut it into strips and then pieces. Cut off the stem of the broccoli and separate the florets. Place everything on a parchment-lined baking sheet. Drizzle with olive oil and bake for 20-25 minutes.
Millet: Rinse the millet under cold water. Add it to a saucepan with double the volume of water and a pinch of salt. Bring to a boil. Once it's boiling, reduce to low-medium heat. Take it off the heat when most of the water is absorbed, cover it with a lid, and let it sit for 10 more minutes.
Falafel: When the falafels are done soaking, shape small balls with slightly wet hands. Heat a large pan or skillet with olive or avocado oil. When hot, cook the falafel over medium-high heat for 2 minutes on each side (or according to package directions).
Chimichurri: Wash the parsley. Finely chop it with a knife or in a food chopper. Add it to a lidded container with the oil, red wine vinegar, salt, and red pepper flakes. Peel a garlic clove and add it whole to the chimichurri.
Assemble: Fluff the millet and serve it with the oven-roasted veggies and 3-4 falafels. Add 1-2 tablespoons of chimichurri and optionally top with pickled red onions.