Warm Quinoa Salad With Roasted Autumn Vegetables

Heat the oven to 400u0b0F and arrange a rack in the middle.
Place the sweet potato, Brussels sprouts, carrot, parsnip, turnip, oil, and measured salt and pepper in a large bowl and toss to combine. Transfer the vegetables to a baking sheet and arrange in an even layer; set the bowl aside (no need to wipe it out).
Roast the vegetables, stirring every 5 minutes, until they're tender and cooked through, about 18 to 20 minutes. Meanwhile, cook the quinoa.
Place the quinoa in a medium saucepan, cover with about 2 to 3 inches of cold water, season with salt, and bring to a boil over medium-high heat. Reduce the heat to medium low and simmer, uncovered, until the white outer casings on the quinoa have popped, revealing translucent little beads, about 15 minutes. Meanwhile, make the dressing.
For the dressing and to assemble:
Place all of the ingredients except the cilantro in the reserved bowl from the veggies and whisk to combine; set aside.
When the quinoa is ready, drain it through a fine-mesh strainer and add it to the bowl with the dressing. Add the roasted vegetables and toss to combine. Taste and season with salt and pepper as needed. Sprinkle with the cilantro (if using) and serve immediately or at room temperature.